An actuator for a handling robot

Abstract

The present invention belongs to the technical field of handling robots, and particularly relates to 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 including at least two power output ends; an execution arm, the execution arm including a long strip-shaped plate body, and the plate surface of the execution arm being capable of switching between two states of horizontal and vertical. By providing a plate-shaped execution arm with the function of switching between two states of horizontal and vertical, and cooperating with the multi-directional translation ability of the driving device, the present invention realizes the flexible picking of goods of different packaging types by a single actuator; it not only avoids the cumbersome operation of manual tool replacement, but also solves the problems of too high cost and performance redundancy brought by multi-degree-of-freedom manipulators through a simple mechanical structure, and significantly improves the versatility and operation efficiency of the handling robot in the medical scenario.

Description

Technical Field

[0001] The present invention belongs to the technical field of handling robots, and particularly relates to an actuator for a handling robot. Background Art

[0002] In the intelligent Internet of Things scenarios in places such as hospitals, handling robots are needed to transfer goods such as medical supplies. The handling robot may include, for example, a self-mobile vehicle and an actuator for transferring goods between the ground and the self-mobile vehicle. In the above application scenarios, the packaging methods of different goods may be different. For example, some small goods can be centrally housed in a box, while some large goods can be directly stacked on a pallet. However, in order to save costs, the existing handling robots have a relatively single way of picking up goods. For example, they use mutually opening and closing clamping arms to clamp the goods, or use fork arms to lift the goods. These actuators cannot pick up goods of different packaging types. When the type of goods to be transported changes, manual replacement of the front-end tool of the actuator is required, and the operation process is cumbersome; if a multi-degree-of-freedom manipulator is used to pick up the goods, the manufacturing cost of the handling robot will be greatly increased, and unnecessary performance redundancy will be generated. Summary of the Invention

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

[0004] To achieve the above object and other related objects, the present invention provides an actuator for a handling robot, including:

[0005] A base, mounted on the self-mobile vehicle of the handling robot;

[0006] A driving device, mounted on the base, the driving device includes at least two power output ends, and the driving device is assembled to be able to drive the two power output ends to translate along at least horizontal and vertical directions;

[0007] An actuating arm, the actuating arm includes a long strip-shaped plate body, the two mutually parallel actuating arms are respectively mounted on the two power output ends, and the length direction of the actuating arm is horizontally arranged. The actuating arm is rotatably connected to the power output end and the rotation axis is parallel to the length direction of the actuating arm, so that the plate surface of the actuating arm can be switched between horizontal and vertical states.

[0008] In an alternative embodiment of the present invention, a locking mechanism is provided between the actuating arm and the power output end. The locking mechanism is configured to be able to hold the actuating arm in a state where the plate surface is horizontal or vertical, and to be able to release the actuating arm from the state where the plate surface is horizontal or vertical.

[0009] In an alternative embodiment of the present invention, the locking mechanism includes a limit pin. The limit pin is coaxially arranged with the rotation axis between the actuating arm and the power output end. The limit pin is provided with a limit head. One of the actuating 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 such that when the limit pin slides axially, the limit head can be engaged with or separated from the limit groove, and when the limit head is engaged with the limit groove, relative rotation between the actuating arm and the power output end is prevented.

[0010] In an alternative embodiment of the present invention, a triggering device is further included. The triggering device is installed on the base or the self-propelled vehicle. The triggering device is configured such that when the driving device drives the power output end and the actuating arm to move along a preset path, the triggering device contacts and drives the limit pin to separate the limit head from the limit groove.

[0011] In an alternative embodiment of the present invention, a tapered guiding portion is provided on the circumferential surface of the limit pin. The triggering device includes a push rod. The length direction of the push rod is perpendicular to the rotation axis between the actuating arm and the power output end. The end of the push rod is provided with a tapered surface that matches the guiding portion.

[0012] In an alternative embodiment of the present invention, the push rod is installed 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 actuating arm and the power output end. The actuating arm is provided with a jack that cooperates with the push rod.

[0013] In an alternative embodiment of the present invention, an elastic element is provided between the limit pin and the power output end or the actuating arm. The elastic element is assembled such that its elastic force can drive the limit head to engage with the limit groove.

[0014] In an alternative 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 the vertical direction. The third driving mechanism is used to drive the two power output ends to open and close relative to each other along a second horizontal direction. The second horizontal direction is perpendicular to the first horizontal direction.

[0015] In an alternative embodiment of the present invention, the length direction of the actuating arm is parallel to the first horizontal direction.

[0016] In an alternative embodiment of the present invention, a rotary driving element for driving the relative rotation of the actuating arm and the power output end is provided therebetween.

[0017] The technical effect of the present invention is as follows: By providing a plate-shaped actuating arm with the function of switching between two states, namely horizontal and vertical, and cooperating with the multi-directional translation ability of the driving device, the present invention realizes the flexible picking of goods of different packaging types by a single actuating mechanism; 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 lifting, which not only avoids the cumbersome operation of manual tool replacement, but also solves the problems of high cost and redundant performance brought by the multi-degree-of-freedom manipulator through a simple mechanical structure, and significantly improves the versatility and operation efficiency of the handling robot in the medical scenario. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a perspective view of one working state of the handling robot provided by the embodiment of the present invention;

[0019] Figure 2 is a perspective view of another working state of the handling robot provided by the embodiment of the present invention;

[0020] Figure 3 is a perspective view of the actuating mechanism provided by the embodiment of the present invention;

[0021] Figure 4 is a perspective view of the power output end, the actuating arm and the triggering device provided by the embodiment of the present invention;

[0022] Figure 5 is an exploded view of the assembly structure of the power output end and the actuating arm provided by the embodiment of the present invention;

[0023] Figure 6 is a front view of the actuating arm and the triggering device in the first cooperation state provided by the embodiment of the present invention;

[0024] Figure 7 is Figure 6 the A-A cross-sectional view of;

[0025] Figure 8 is a front view of the actuating arm and the triggering device in the second cooperation state provided by the embodiment of the present invention;

[0026] Figure 9 is Figure 8 the B-B cross-sectional view of;

[0027] Figure 10 is the front view of the execution arm and the trigger device in the third matching state provided by the embodiment of the present invention;

[0028] Figure 11 is Figure 10 the C-C cross-sectional view of;

[0029] Figure 12 is the front view of the execution arm and the trigger device in the fourth matching state provided by the embodiment of the present invention;

[0030] Figure 13 is Figure 12 the D-D cross-sectional view of;

[0031] Explanation of reference numerals: 100, self-propelled vehicle; 101, boxed packaging; 102, pallet; 10, base; 20, driving device; 201, power output end; 2011, fixed sleeve; 2012, arc-shaped hole; 21, first driving mechanism; 22, second driving mechanism; 23, third driving mechanism; 30, execution arm; 31, plate-shaped body; 32, rotating sleeve; 33, limit pin; 331, limit head; 332, guiding part; 333, external thread; 34, bearing; 35, limit groove; 36, jack; 37, elastic element; 38, gasket; 39, nut; 40, trigger device; 41, ejector rod; 411, conical surface; 42, rotating bracket. Detailed implementation manners

[0032] The following uses specific specific examples to illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0033] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. Therefore, only the components related to the present invention are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0034] Please refer to Figure 1 、 Figure 2As shown in the figure, an embodiment of the present invention provides a handling robot, which is particularly suitable for intelligent Internet of Things scenarios in places such as hospitals, 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 handling robot are not limited to medical places, and can also be extended to fields such as industrial production and logistics transportation. The handling 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 is equipped with 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 will not be elaborated in the present invention. The technical solution of the present invention will be described in detail below in combination with the improvement of the actuator part.

[0035] Please refer to Figures 1 - 13 As shown in the figure, the actuator includes a base 10, a driving device 20 and an actuating 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 assembled to be able to drive the two power output ends 201 to translate along at least horizontal and vertical directions; the actuating arm 30 includes a long strip-shaped plate-shaped body 31, and the two mutually parallel actuating arms 30 are respectively installed on the two power output ends 201, and the length direction of the actuating arm 30 is horizontally arranged, and the actuating arm 30 is rotatably connected to the power output end 201 and the rotation axis is parallel to the length direction of the actuating arm 30, so that the plate surface of the actuating arm 30 can be switched between horizontal and vertical states; when the plate surface of the actuating arm 30 is vertical, it can be used to clamp the box-shaped package 101, ensuring that there is enough contact area between the plate surface of the actuating arm 30 and the side wall of the box-shaped package 101 to prevent the goods from slipping; when the plate surface of the actuating arm 30 is horizontal, it can be used to lift the tray 102. At this time, the horizontal actuating arm 30 can smoothly insert into the flat slot of the tray 102, which is beneficial to reducing the thickness of the tray 102 and improving the carrying efficiency.

[0036] By setting the plate-shaped actuating arm 30 with the function of switching between horizontal and vertical states and cooperating with the multi-directional translation ability of the driving device 20, the present invention realizes the flexible picking of goods of different packaging types by a single actuator; the vertical plate surface can increase the contact area with the box body to ensure stable clamping, and the horizontal plate surface can insert into the slot of the tray 102 to complete lifting, which not only avoids the cumbersome operation of manual tool replacement, but also solves the problems of too high cost and performance redundancy brought by multi-degree-of-freedom manipulators through a simple mechanical structure, and significantly improves the versatility and operation efficiency of the handling robot in the medical scenario.

[0037] Please refer to Figure 4 and Figure 5 As shown, in an alternative embodiment of the present invention, a locking mechanism is provided between the actuating arm 30 and the power output end 201. The locking mechanism is configured to be able to hold the actuating arm 30 in a state where the plate surface is horizontal or vertical, and to be able to release the actuating arm 30 from the state where the plate surface is horizontal or vertical. By adding the locking mechanism in this further embodiment, stable locking can be achieved when the actuating arm 30 switches to the horizontal or vertical state, preventing accidental deflection of the plate surface due to external forces or vibrations during handling, and ensuring the operation reliability when clamping the box body or lifting the tray 102; at the same time, the releasable design of the locking mechanism retains the flexible switching function of the actuating arm 30, enabling the mechanism to have both safety and adaptability while maintaining a low cost, and further optimizing the stability requirements for handling various types of goods in a medical scenario.

[0038] Please refer to Figure 5 As shown, in an alternative 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 actuating arm 30 and the power output end 201. The limit pin 33 is provided with a limit head 331. One of the actuating 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. The limit groove 35 is configured such that when the limit pin 33 slides axially, the limit head 331 can be engaged or separated from the limit groove 35, and when the limit head 331 is engaged with the limit groove 35, relative rotation between the actuating arm 30 and the power output end 201 is prevented. By means of the coaxial arrangement of the limit pin 33 and the limit groove 35 in this further embodiment, an integrated design of the rotation and locking of the actuating arm 30 is achieved. When the limit pin 33 slides axially and the limit head 331 is inserted into the limit groove 35, the actuating arm 30 and the power output end 201 are completely locked, ensuring that the state of the plate surface is absolutely fixed during handling; when separated, they can freely rotate and switch states. This structure uses an axial sliding unlocking method, which is simple to operate and highly reliable; the coaxial layout of the limit pin 33 saves space and avoids interference with other components by an external locking mechanism; the engagement design of the limit head 331 and the groove can withstand a large torque, especially suitable for working conditions with frequent starts and stops or uneven loads in a medical scenario, further enhancing the anti-impact performance while ensuring a low cost.

[0039] Please refer to Figure 5As shown, in a specific embodiment, a fixed sleeve 2011 may be provided on the power output end 201, and a rotating sleeve 32 may be provided on the actuating arm 30. The rotating sleeve 32 is rotatably connected to the fixed sleeve 2011 through a bearing 34. A limit pin 33 may be inserted into the fixed sleeve 2011 and the rotating sleeve 32. In this embodiment, the portion of the limit pin 33 cooperating with the fixed sleeve 2011 may be arranged in a square shaft shape so as to achieve axial sliding and circumferential fixing cooperation between the limit pin 33 and the fixed sleeve 2011. In this embodiment, a limit groove 35 is provided at the end of the rotating sleeve 32, and the limit head 331 and the limit groove 35 need to be arranged in a non-circular shape to prevent relative rotation when they are engaged. For example, they may be arranged in a square shape. It should be understood that the cooperation mode between the limit pin 33 and the fixed sleeve 2011 is not unique. For example, in some other embodiments, the limit pin 33 and the fixed sleeve 2011 may also be cooperated through splines. The specific shapes of the limit head 331 and the limit groove 35 are not unique either. For example, in some other embodiments, the limit head 331 may be arranged in a flat shaft shape and the limit groove 35 may be arranged in a cross groove. In addition, the cooperation mode between the limit pin 33 and the fixed sleeve 2011 and the rotating sleeve 32 may be interchanged. For example, the limit pin 33 may be axially slid and circumferentially fixed with the rotating sleeve 32, and the limit head 331 may be cooperated with the limit groove 35 provided on the fixed sleeve 2011.

[0040] Please refer to Figure 1 , Figure 2 , Figure 4 , Figures 6 - 13 As shown, in an alternative embodiment of the present invention, a trigger device 40 is further included. The trigger device 40 is installed on the base 10 or the self-propelled vehicle 100. The trigger device 40 is configured to contact and drive the limit pin 33 when the driving device 20 drives the power output end 201 and the actuating arm 30 to move along a preset path, so that the limit head 331 is separated from the limit groove 35. Through the collaborative design of the movement of the trigger device 40 and the driving device 20 in this further embodiment, the locking state is automatically released when the actuating arm 30 reaches the preset position. The unlocking is completely achieved by relying on the mechanical movement of the existing driving device 20 without adding additional power elements, significantly reducing the manufacturing cost and system complexity. The fully automatic unlocking is realized through the precise control of the preset path, completely avoiding manual intervention operations, and improving the operation efficiency and safety in the medical scenario.

[0041] Please refer to Figures 6 - 13As shown, in an alternative embodiment of the present invention, a conical guiding portion 332 is provided on the circumferential surface of the limit pin 33. The triggering device 40 includes a push rod 41. The length direction of the push rod 41 is perpendicular to the rotation axis between the actuating arm 30 and the power output end 201. A conical surface 411 adapted to the guiding portion 332 is provided at the end of the push rod 41. When the push rod 41 presses against the guiding portion 332, axial sliding of the limit pin 33 is achieved. This further embodiment efficiently converts the thrust of the push rod 41 in the vertical direction into axial sliding of the limit pin 33 by using a conical surface structure, significantly reducing the operating force required for unlocking and enhancing the sensitivity of the mechanism.

[0042] Please refer to Figures 6 - 13 As shown, in an alternative embodiment of the present invention, the push rod 41 is installed 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 actuating arm 30 and the power output end 201. A jack 36 cooperating with the push rod 41 is provided on the actuating arm 30. An arc-shaped hole 2012 for avoiding the push rod 41 is provided on the fixed sleeve 2011 of the power output end 201. The triggering device 40 of this embodiment can not only unlock the locking mechanism but also drive the plate surface of the actuating arm 30 to switch between a vertical state and a horizontal state. Specifically, Figure 6 、 Figure 8 、 Figure 10 、 Figure 12 Successively show the entire process of the triggering device 40 unlocking the locking mechanism and driving the actuating arm 30 to rotate. After the push rod 41 is inserted into the jack 36 from the Figure 6 shown state, the power output end 201 translates counterclockwise along an arc-shaped path around the rotation center of the push rod 41 from the Figure 8 shown state to the Figure 10 shown state. Subsequently, the power output end 201 translates horizontally away from the push rod 41 to the Figure 12 shown state, thus realizing the entire process of unlocking the locking structure, rotating the actuating arm 30, and locking the locking mechanism. This further embodiment realizes integrated automatic control of unlocking the locking mechanism and switching the state of the actuating arm 30 through the linkage design of the rotating bracket 42 and the push rod 41. By driving the power output end 201 to move along a specific trajectory after the push rod 41 is inserted into the jack 36, a single driving device 20 can synchronously complete the entire process of unlocking, rotating, and relocking, greatly simplifying 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 functional completeness, it significantly improves the operation efficiency and equipment reliability in the medical handling scenario and further reduces the equipment cost.

[0043] In some other embodiments, the rotation of the execution arm 30 can also be driven by a separate driving element. For example, a joint motor for driving relative rotation between the execution arm 30 and the power output end 201 is provided.

[0044] Please refer to Figure 5 , Figure 7 , Figure 9 , Figure 11 , Figure 13 As shown in the figures, in an alternative embodiment of the present invention, an elastic element 37 is provided between the limit pin 33 and the power output end 201 or the execution arm 30. The elastic element 37 is assembled such 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. The compression spring is sleeved on the limit pin 33. The limit pin 33 is provided with an external thread 333. 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. 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 utilizes an elastic force automatic reset locking mechanism to ensure that the execution arm 30 always remains stably locked in the non-switching state, effectively preventing accidental loosening during handling operations; during unlocking, it is only necessary to overcome the elastic force, and the locking state is automatically restored after the switching is completed, greatly improving the operation coherence.

[0045] Please refer to Figure 3 As shown in the figure, in an alternative 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. The third driving mechanism 23 is used to drive the two power output ends 201 to open and close with respect to 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. The three driving mechanisms cooperate with each other to enable the clamping, lifting, and translational movements of the execution arm 30, meeting the requirements of the degrees of freedom of movement when picking up boxed goods and pallet 102 goods. In a specific embodiment, the first driving mechanism 21 and the second driving mechanism 22 can be, for example, motor screw mechanisms, and the third driving mechanism 23 can be, for example, a motor synchronous pulley mechanism. It should be understood that the specific forms of the driving mechanisms are not unique. For example, in some other embodiments, the motor screw mechanism and the motor synchronous pulley mechanism can also be replaced by electric cylinders, sprockets, and other mechanisms.

[0046] In summary, the present invention realizes the flexible picking of goods of different packaging types by a single actuator through the setting of a plate-shaped actuator arm 30 with the function of switching between horizontal and vertical states, in cooperation with the multi-directional translation ability 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 slots of the tray 102 to complete the lifting, which not only avoids the cumbersome operation of manual tool replacement but also solves the problems of excessive cost and performance redundancy brought by multi-degree-of-freedom manipulators through a simple mechanical structure, significantly improving the versatility and operation efficiency of the handling robot in the medical scenario. The present invention realizes the integrated automatic control of the unlocking of the locking mechanism and the state switching of the actuator arm 30. After the ejector rod 41 is inserted into the jack 36, the power output end 201 is driven to move along a specific trajectory, and only a single driving device 20 is required to synchronously complete the full process of unlocking, rotating, and re-locking, greatly simplifying 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, which not only ensures the functional completeness but also significantly improves the operation efficiency and equipment reliability in the medical handling scenario and further reduces the equipment cost.

[0047] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

[0048] In the description herein, numerous specific details are provided, such as examples of components and / or methods, to provide a complete understanding of the embodiments of the present invention. However, those skilled in the art will recognize that the embodiments of the present invention can be practiced without one or more of the specific details or by other devices, systems, components, methods, parts, materials, parts, etc. In other instances, well-known structures, materials, or operations are not specifically shown or described in detail to avoid obscuring aspects of the embodiments of the present invention.

Claims

1. An actuator for a handling robot, characterized in that, Comprising: A base (10), mounted on the self-propelled vehicle (100) of the handling robot; A driving device (20), mounted on the base (10), the driving device (20) includes at least two power output ends (201), and the driving device (20) is assembled to be able to drive the two power output ends (201) to translate along at least horizontal and vertical directions; An execution arm (30), the execution arm (30) includes a long strip-shaped plate body (31), two mutually parallel execution arms (30) are respectively mounted on the two power output ends (201), and the length direction of the execution arm (30) is horizontally arranged, the execution arm (30) is rotatably connected to the power output end (201) and the rotation axis is parallel to the length direction of the execution arm (30), so that the plate surface of the execution arm (30) can be switched between horizontal and vertical states; A locking mechanism is provided between the execution arm (30) and the power output end (201), and the locking mechanism is configured to be able to hold the execution arm (30) in a state where the plate surface is horizontal or vertical, and can release the execution arm (30) from the state where the plate surface is horizontal or vertical; The locking mechanism includes a limit pin (33), the limit pin (33) is coaxially arranged with the rotation axis between the execution arm (30) and the power output end (201), the limit pin (33) is provided with a limit head (331), one of the execution 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 be engaged or separated from the limit groove (35) when the limit pin (33) slides axially, and to prevent the execution arm (30) from rotating relative to the power output end (201) when the limit head (331) is engaged with the limit groove (35); It further includes a trigger device (40), the trigger device (40) is mounted on the base (10) or the self-propelled vehicle (100), and the trigger device (40) is configured to when the driving device (20) drives the power output end (201) and the execution arm (30) to move along a preset path, the trigger device (40) contacts and drives the limit pin (33), so that the limit head (331) is separated from the limit groove (35); A conical guiding portion (332) is provided on the circumferential surface of the limit pin (33), 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 execution arm (30) and the power output end (201), and a conical surface (411) adapted to the guiding portion (332) is provided at the end of the push rod (41); The ejector rod (41) is mounted 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 actuating arm (30) and the power output end (201). An insertion hole (36) cooperating with the ejector rod (41) is provided on the actuating arm (30). An elastic element (37) is provided between the limit pin (33) and the power output end (201) or the actuating arm (30), and the elastic element (37) is assembled such that its elastic force can drive the limit head (331) to engage with the limit groove (35).

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

3. The actuator for a handling robot according to claim 2, characterized in that, The length direction of the actuating arm (30) is parallel to the first horizontal direction.

4. The actuator for a handling robot according to claim 1, characterized in that A rotary driving element for driving relative rotation between the actuating arm (30) and the power output end (201) is provided therebetween.

Images