Robot

Abstract

The invention provides a robot which is characterized in that a control module is arranged in a middle-layer cabinet; the cradle head device is arranged on a middle-layer cabinet, a target device is arranged on the cradle head device, and the target device is used for collecting first induction data and sending the first induction data to the control module; the mechanical arm is arranged on the middle-layer cabinet, and the mechanical arm is connected with the clamping device; the control module is connected with the mechanical arm and the clamping device and used for controlling the mechanical arm to move to the target position where the object is located according to the first induction data and controlling the clamping device to clamp or not clamp the object. Through cooperation of the target device, the mechanical arm and the clamping device, the mechanical arm and the clamping device can be controlled to work in real time, the error rate of the mechanical arm and the clamping device is reduced, in this way, when objects are clamped and carried, the accuracy and safety are better, and the risk that the objects are damaged is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a robot. Background Art

[0002] A robot is an intelligent machine capable of semi- or fully autonomous operation, performing tasks such as work or movement through programming and automated control. Robots typically use manipulators to grip and carry objects, but existing robots have simple manipulator structures. When gripping and carrying valuable items or in restrictive working environments, robots lack accuracy and safety, posing a risk of damage. Summary of the Invention

[0003] The present invention provides a robot to solve the problem of poor accuracy and safety of existing robots in clamping and carrying objects.

[0004] A robot comprising a clamping device, a pan / tilt device, a mechanical arm and a middle cabinet; The middle cabinet is provided with a control module; The pan-tilt device is arranged on the middle cabinet, and a target device is provided on the pan-tilt device, and the target device is used to collect first sensing data and send the first sensing data to the control module; The mechanical arm is arranged on the middle cabinet, and the mechanical arm is connected to the clamping device; The control module is connected to the robotic arm and the clamping device, and is used to control the robotic arm to move to the target position where the object is located according to the first sensing data, and control the clamping device to clamp or not clamp the object.

[0005] Preferably, a monitor is provided on the robotic arm for collecting second sensing data and sending the second sensing data to the control module.

[0006] Preferably, the mechanical arm includes a fixing base, a first transfer arm, a second transfer arm, a third transfer arm, a fourth transfer arm, a fifth transfer arm and a transfer base; The fixed seat is installed on the middle cabinet, one end of the first transfer arm is rotatably installed on the fixed seat around the first axis, one end of the second transfer arm is rotatably installed on the first transfer arm around the second axis, three ends of the third transfer arm are rotatably installed on the second transfer arm around the second axis, one end of the fourth transfer arm is rotatably installed on the third transfer arm around the fourth axis, one end of the fifth transfer arm is rotatably installed on the fourth transfer arm around the fifth axis, one end of the transfer seat is rotatably installed on the fifth transfer arm around the sixth axis, and the transfer seat is connected to the clamping device.

[0007] Preferably, the robot further comprises a mobile chassis; The mobile chassis is installed at the bottom of the middle cabinet.

[0008] Preferably, the robot further comprises a quick-change device, and the quick-change device is used to connect the robotic arm and the clamping device.

[0009] Preferably, the clamping device includes a fixing plate, a clamping mechanism, a pressing mechanism, a first adjusting mechanism and a second adjusting mechanism; The clamping mechanism is movably mounted on the fixing plate along a first direction, and the pressing mechanism is movably mounted on the fixing plate along a second direction; The first adjustment mechanism is disposed on the fixing plate and is connected to the clamping mechanism, and is used to drive the clamping mechanism to move along a first direction so that the clamping mechanism clamps or releases the article; The second adjustment mechanism is disposed on the fixing plate and is connected to the pressing mechanism, and is used to drive the pressing mechanism to move along a second direction so that the pressing mechanism presses or releases the article.

[0010] Preferably, the first adjustment mechanism includes a first adjustment motor, an adjustment driving wheel, an adjustment driven wheel and an adjustment transmission belt; The first adjusting motor is mounted on the fixed plate, the adjusting driving wheel is mounted on the output shaft of the first adjusting motor, the adjusting driven wheel is rotatably mounted on the fixed plate, and the adjusting driven wheel and the adjusting driving wheel are spaced apart along a first direction; The adjusting transmission belt is sleeved on the adjusting driving wheel and the adjusting driven wheel; The clamping mechanism includes two track assemblies and two clamping jaw assemblies; The two track assemblies are spaced apart from each other along the third direction on the fixed plate, and each of the clamping jaw assemblies is movably mounted on one of the track assemblies along the first direction; The adjusting transmission belt is connected to the two clamping jaw assemblies and is used for driving the two clamping jaw assemblies to move in relative directions or opposite directions.

[0011] Preferably, the pan-tilt device includes a base plate, a lifting mechanism, a rotating mechanism and a rocking mechanism; The lifting mechanism is mounted on the base plate, the rotating mechanism is mounted on the lifting mechanism, the rocking mechanism is mounted on the rotating mechanism, and the target device is mounted on the rocking mechanism; The lifting mechanism, the rotating mechanism and the rocking mechanism cooperate to adjust the posture of the target device.

[0012] Preferably, the lifting mechanism comprises a base frame, an X-shaped connecting rod assembly and a first drive assembly; The base frame and the substrate are spaced apart in a vertical direction of the substrate; The X-shaped connecting rod assembly includes a first connecting rod, a second connecting rod, a fixed support and a movable support; The first connecting rod and the second connecting rod are cross-connected through a connecting shaft; The first end of the first connecting rod is mounted on the base plate via the fixed support, and the second end of the first connecting rod is mounted on the base frame via the movable support so as to be movable along the horizontal direction of the base plate; The first end of the second connecting rod is mounted on the base plate by moving along the horizontal direction of the base plate through the movable support, and the second end of the second connecting rod is mounted on the base frame through the fixed support; The first driving assembly is disposed on the base plate, and the first driving assembly is connected to one of the movable supports, and is used to rotate the first connecting rod and the second connecting rod in opposite directions or in opposite directions; The rotating mechanism includes a first supporting shell, a rotating shaft seat, a rotating shaft and a second driving assembly; The first supporting shell is mounted on the lifting mechanism, the rotating shaft seat is provided on the first supporting shell, the first end of the rotating shaft is rotatably mounted in the rotating shaft seat, and the second end of the rotating shaft is connected to the rocking mechanism; The second driving assembly is connected to the rotating shaft and is used to drive the rotating shaft to rotate; The rocking mechanism includes a second supporting shell, a rocking support, a rotating shaft, a rocking bracket and a third driving assembly; The second supporting shell is mounted on the rotating mechanism, the swing support is mounted on the second supporting shell, one end of the rotating shaft is rotatably mounted on the swing support, and one end of the swing bracket is mounted on the rotating shaft; The third driving assembly is connected to the rotating shaft and is used to drive the rotating shaft to rotate.

[0013] Preferably, the robot further comprises a silo device; The silo device is arranged on the middle cabinet and is used to place items; The robotic arm is used to control the clamping device to place the article in the silo device.

[0014] Preferably, the silo device comprises a connecting frame and at least two silo mechanisms: At least two of the silo mechanisms are spaced apart along the second direction, and a connecting frame is provided between two adjacent silo mechanisms.

[0015] Preferably, the silo mechanism comprises a support frame, a first fixed baffle, a first locking structure, a second fixed baffle and a second locking structure; The support frame is used to place items; The first fixed baffle is disposed on a first side of the support frame, and the first locking structure is movably disposed along a first direction at a position of the support frame corresponding to the first fixed baffle; The second fixed baffle is provided on the second side of the support frame, and the second locking structure is movably provided along the third direction at a position of the support frame corresponding to the second fixed baffle; The first side and the second side are two adjacent sides.

[0016] Preferably, the support frame includes a bottom plate, a support rod and a placement plate; The bottom plate and the placement plate are spaced apart along the second direction, the first end of the support rod is connected to the bottom plate, and the second end of the support rod is connected to the placement plate; The first fixed baffle is arranged on the bottom plate and located at a first side of the placement plate, and the placement plate is provided with a first movable groove arranged along a first direction; The first locking structure includes a first movable baffle and a first movable assembly; the first movable baffle is movably installed in the first movable groove and is arranged opposite to the first fixed baffle; The first moving assembly includes a first moving motor, a first support, a first screw and a first driving member; The first moving motor and the first support are spaced apart along a first direction, the first end of the first screw is connected to the output end of the first moving motor, the second end of the first screw is inserted into the first support, the first driving member is movably mounted on the first screw, and the first driving member is connected to the first moving baffle; The second fixed baffle is provided on the bottom plate and is located at the second side of the placement plate, and the placement plate is provided with a second movable groove arranged along the third direction; The second locking structure includes a second movable baffle and a second movable assembly; the second movable baffle is movably installed in the second movable groove and is arranged opposite to the second fixed baffle; The second moving assembly includes a second moving motor, a second support, a second screw and a second driving member; The second movable motor and the second support are spaced apart along the third direction, the second end of the second screw is connected to the output end of the second movable motor, the second end of the second screw is passed through the second support, the second driving member is movably mounted on the second screw, and the second driving member is connected to the second movable baffle.

[0017] The robot provided by the embodiment of the present invention sets a robotic arm in a middle cabinet, and the robotic arm is connected to a clamping device. The robotic arm can adjust the position of the clamping device according to actual needs, and the control module is connected to the robotic arm and the clamping device; when it is necessary to clamp and transport an object, the target device collects first sensing data and sends the first sensing data to the control module. The control module in the middle cabinet can issue instructions according to actual needs, and can control the robotic arm to move to the target position where the object is located according to the sensing data, and then control the clamping device to clamp or not clamp the object; through the cooperation of the target device, the robotic arm and the clamping device, the operation of the robotic arm and the clamping device can be controlled in real time, and the error rate of the robotic arm and the clamping device can be reduced. In this way, the accuracy and safety are improved when clamping and transporting objects, and the risk of damage to objects is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0019] Figure 1 is a first isometric view of a robot according to an embodiment of the present invention; Figure 2 is a second isometric view of the robot according to one embodiment of the present invention; Figure 3 is an axonometric view of a robotic arm according to one embodiment of the present invention; Figure 4 is an isometric view of a clamping device according to one embodiment of the present invention; Figure 5 is a partial structural diagram of a clamping device in one embodiment of the present invention; Figure 6 is a first isometric view of a silo mechanism according to an embodiment of the present invention; Figure 7 is a second isometric view of a silo mechanism according to an embodiment of the present invention; Figure 8 This is a partial structural diagram of a silo mechanism in one embodiment of the present invention; Figure 9 is an axonometric view of a silo device according to one embodiment of the present invention; Figure 10 is an isometric view of a pan / tilt device according to an embodiment of the present invention; Figure 11 is a cross-sectional view of a pan / tilt device according to an embodiment of the present invention; Figure 12 is a perspective view of a pan / tilt device according to an embodiment of the present invention; Figure 13 is an isometric view of a rotating mechanism and a rocking mechanism according to an embodiment of the present invention; Figure 14 It is an isometric view of a rocking mechanism in one embodiment of the present invention.

[0020] Among them, 10, clamping device; 11, fixing plate; 12, clamping mechanism; 121, track assembly; 1211, guide track; 1212, guide slider; 122, clamping claw assembly; 1221, support member; 1222, clamping claw body; 12221, clamping plate; 12222, support plate; 12223, avoidance space; 13, pressing mechanism; 131, connecting assembly; 1311, connecting column; 1312, connecting seat; 132, support plate; 1321, main body; 1322, support part; 133, elastic pressure plate; 14, first adjusting mechanism; 141, first adjusting motor; 142, adjusting driving wheel; 143, adjusting driven wheel; 144, adjusting transmission belt; 15, second adjusting mechanism; 151, second adjusting motor; 152, telescopic column; 16, monitoring camera; 17, rangefinder; 20. Bin device; 21. Connecting frame; 211. Support arm; 212. Reinforcement arm; 22. Bin mechanism; 221. Support frame; 2211. Bottom plate; 2212. Support rod; 2213. Placement plate; 2214. First moving slot; 2215. Second moving slot; 222. First fixed baffle; 223. First locking structure; 2231. First moving baffle; 2232. First moving assembly; 22321. First moving motor; 22322. First support; 22323. First screw; 22324. First driving member; 2233. First guide rail assembly; 22331. First A guide rail; 22332, a first slider; 2234, a first travel switch; 2235, a first sensing plate; 224, a second fixed baffle; 225, a second locking structure; 2251, a second movable baffle; 2252, a second movable assembly; 22521, a second movable motor; 22522, a second support; 22523, a second screw; 22524, a second driving member; 2253, a second guide rail assembly; 22531, a second guide rail; 22532, a second slider; 2254, a second travel switch; 2255, a second sensing plate; 226, a first detecting member; 227, a second detecting member; 30. PTZ device; 31. Base plate; 32. Lifting mechanism; 321. Base frame; 322. X-shaped connecting rod assembly; 3221. First connecting rod; 3222. Second connecting rod; 3223. Fixed support; 3224. Moving support; 323. First driving assembly; 3231. Driving motor; 3232. Screw seat; 3233. Screw; 3234. Driving block; 324. First trigger switch; 325. First sensing element; 326. Guide assembly; 3261. Guide rail; 3262. Guide block; 33. Rotating mechanism; 331. First supporting shell; 332. Rotating shaft seat; 333. Rotating shaft ; 334, second drive assembly; 3341, rotating motor; 3342, first driving wheel; 3343, first driven wheel; 3344, first conveyor belt; 335, second trigger switch; 336, second sensing element; 34, swing mechanism; 341, second supporting shell; 342, swing support; 343, rotating shaft; 344, swing bracket; 345, third drive assembly; 3451, swing motor; 3452, second driving wheel; 3453, second driven wheel; 3454, second conveyor belt; 346, third trigger switch; 347, third sensing element; 348, limit plate; 349, movable slot; 40. Target device; 50. Robotic arm; 51. Fixed base; 52. First transfer arm; 53. Second transfer arm; 54. Third transfer arm; 55. Fourth transfer arm; 56. Fifth transfer arm; 57. Transfer base; 60. Middle cabinet; 70. Quick change device; 80. Monitor; 90. Mobile chassis. DETAILED DESCRIPTION

[0021] In order to make the technical problems, technical solutions and beneficial effects solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0022] In the description of this application, it should be understood that the terms "longitudinal", "radial", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, they should not be understood as limiting this application. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0023] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0024] An embodiment of the present invention provides a robot, referring to Figure 1 and Figure 2 The robot includes a clamping device 10, a pan-tilt device 30, a robotic arm 50 and a middle cabinet 60; a control module is provided in the middle cabinet 60; the pan-tilt device 30 is arranged on the middle cabinet 60, and a target device 40 is provided on the pan-tilt device 30, and the target device 40 is used to collect first sensing data and send the first sensing data to the control module; the robotic arm 50 is arranged in the middle cabinet 60, and the robotic arm 50 is connected to the clamping device 10; the control module is connected to the robotic arm 50 and the clamping device 10, and is used to control the robotic arm 50 to move to the target position where the object is located according to the first sensing data, and control the clamping device 10 to clamp or not clamp the object.

[0025] As an example, the robot includes a gripping device 10, a pan-tilt device 30, a robotic arm 50, and a mid-level cabinet 60. The gripping device 10 can grip objects. The robotic arm 50 has multiple degrees of freedom and can adjust devices mounted on the robotic arm 50 according to commands. The mid-level cabinet 60 houses a control module, including a battery module to power the robot. The control module includes, but is not limited to, a PLC control module, a micro industrial computer module, a robot control module, and a switch. During installation, the pan-tilt device 30 is mounted on the mid-level cabinet 60. A target device 40 is mounted on the pan-tilt device 30. The pan-tilt device 30 can adjust the target device 40's posture, positioning it in an appropriate observation position for detailed object information. The target device 40 is used to collect first sensing data and transmit this data to the control module, providing the robotic arm 50 and gripping device 10 with RGB and point cloud information from a third-person perspective. This allows the device to continuously monitor the position of objects and the gripping device 10, enabling more accurate and secure gripping and handling of objects. In addition, the pan-tilt device 30 is located on the forward side of the robot. When the robot moves, the target device 40 can observe the external situation, effectively avoid obstacles, and prevent equipment from collision and damage.

[0026] In this example, the robotic arm 50 is set in the middle cabinet 60, and the robotic arm 50 is connected to the clamping device 10. The robotic arm 50 can adjust the position of the clamping device 10 according to actual needs, and the control module is connected to the robotic arm 50 and the clamping device 10; when it is necessary to clamp and transport items, the target device 40 collects first sensing data and sends the first sensing data to the control module. The control module in the middle cabinet 60 can issue instructions according to actual needs, and can control the robotic arm 50 to move to the target position where the item is located according to the sensing data, and then control the clamping device 10 to clamp or not clamp the item; through the cooperation of the target device 40, the robotic arm 50 and the clamping device 10, the operation of the robotic arm 50 and the clamping device 10 can be controlled in real time, reducing the error rate of the robotic arm 50 and the clamping device 10, so that the accuracy and safety are better when clamping and transporting items, and the risk of damage to items is reduced. The device can also control the clamping device 10 to clamp the item based on the sensing data, and then control the robotic arm 50 to move to the target position where the item is located; thereby realizing the transportation of items (for example, moving items from the middle cabinet 60 to other equipment, or from other equipment to the middle cabinet 60); the position of the clamping device 10 can also be adjusted to ensure that the clamping device 10 can accurately clamp the item.

[0027] In one embodiment, referring to Figure 1 and Figure 2 The robot arm 50 is provided with a monitor 80 for collecting the second sensing data and sending the second sensing data to the control module.

[0028] As an example, a monitor 80 is provided on the robotic arm 50, which can collect second sensing data and send the second sensing data to the control module, providing the robotic arm 50 with RGB and point cloud information of the first perspective inside the robotic arm, so that the device can observe the position information of the object and the clamping device 10 at any time, thereby achieving more stable and safe clamping and transportation of the object.

[0029] In this example, the target device 40 provides the robotic arm 50 with RGB and point cloud information from a third perspective outside the robotic arm, and the monitor 80 provides the robotic arm 50 with RGB and point cloud information from a first perspective inside the robotic arm. The combination of the two can more quickly and accurately observe the position information of the object and the clamping device 10 at any time, thereby achieving more stable and safe clamping and transportation of the object.

[0030] In one embodiment, referring to Figure 1 、 Figure 2 and Figure 3The robotic arm 50 includes a fixed base 51, a first transfer arm 52, a second transfer arm 53, a third transfer arm 54, a fourth transfer arm 55, a fifth transfer arm 56 and a transfer base 57; the fixed base 51 is installed on the middle cabinet 60, one end of the first transfer arm 52 is rotatably installed on the fixed base 51 around the first axis, one end of the second transfer arm 53 is rotatably installed on the first transfer arm 52 around the second axis, three ends of the third transfer arm 54 are rotatably installed on the second transfer arm 53 around the second axis, one end of the fourth transfer arm 55 is rotatably installed on the third transfer arm 54 around the fourth axis, one end of the fifth transfer arm 56 is rotatably installed on the fourth transfer arm 55 around the fifth axis, one end of the transfer base 57 is rotatably installed on the fifth transfer arm 56 around the sixth axis, and the transfer base 57 is connected to the clamping device 10.

[0031] As an example, the robotic arm 50 includes a fixed base 51, a first transfer arm 52, a second transfer arm 53, a third transfer arm 54, a fourth transfer arm 55, a fifth transfer arm 56 and a transfer base 57; during installation, the fixed base 51 is installed on the middle cabinet 60 by screwing, welding or clamping, one end of the first transfer arm 52 is rotatably installed on the fixed base 51 around the first axis, one end of the second transfer arm 53 is rotatably installed on the first transfer arm 52 around the second axis, the three ends of the third transfer arm 54 are rotatably installed on the second transfer arm 53 around the second axis, and one end of the fourth transfer arm 55 is rotatably installed on the fourth axis. The third transfer arm 54 is rotatably mounted on the fifth transfer arm 56, one end of the fifth transfer arm 56 is rotatably mounted on the fourth transfer arm 55 around a fifth axis, and one end of the adapter seat 57 is rotatably mounted on the fifth transfer arm 56 around a sixth axis. The adapter seat 57 is connected to the clamping device 10. With this arrangement, the fixed seat 51, the first transfer arm 52, the second transfer arm 53, the third transfer arm 54, the fourth transfer arm 55, the fifth transfer arm 56 and the adapter seat 57 cooperate to form a six-axis robotic arm with six degrees of freedom, thereby enabling the position of the clamping device 10 to be adjusted from multiple angles and directions to meet the needs of carrying items. Among them, a safety electronic skin of the inductive type is installed on the outer surface of the robotic arm 50. When the robotic arm 50 approaches an item within a certain distance (for example, set to 100mm), the robotic arm 50 is triggered to shut down in an emergency, thereby improving the safety of use.

[0032] In one embodiment, referring to Figure 1 and Figure 2 The robot also includes a mobile chassis 90; the mobile chassis 90 is installed at the bottom of the middle cabinet 60.

[0033] As an example, the robot also includes a mobile chassis 90. During installation, the mobile chassis 90 is installed at the bottom of the middle cabinet 60. With this arrangement, the mobile chassis 90 is used to facilitate moving the entire equipment to a designated working point. When the mobile chassis 90 is moving, the AGV's laser radar and 3D vision are used to automatically avoid and bypass obstacles. When the mobile chassis 90 stops working, the AGV's radar and 3D vision information are used to demarcate a certain safety area. The robot will pause when a person approaches a certain distance, and will continue working after the person leaves.

[0034] In one embodiment, referring to Figure 1 and Figure 2 The robot also includes a quick-change device 70, which is used to connect the robotic arm 50 and the clamping device 10.

[0035] As an example, the robot also includes a quick-change device 70. During installation, the quick-change device 70 is installed between the robotic arm 50 and the clamping device 10, which can ensure that the clamping device 10 is firmly and stably installed on the robotic arm 50, and also facilitates the installation and disassembly of the clamping device 10.

[0036] In one embodiment, referring to Figure 4 and Figure 5 The clamping device 10 includes a fixed plate 11, a clamping mechanism 12, a pressing mechanism 13, a first adjusting mechanism 14 and a second adjusting mechanism 15; the clamping mechanism 12 is movably mounted on the fixed plate 11 along a first direction, and the pressing mechanism 13 is movably mounted on the fixed plate 11 along a second direction; the first adjusting mechanism 14 is arranged on the fixed plate 11, connected to the clamping mechanism 12, and is used to drive the clamping mechanism 12 to move along the first direction so that the clamping mechanism 12 clamps or releases the article; the second adjusting mechanism 15 is arranged on the fixed plate 11, connected to the pressing mechanism 13, and is used to drive the pressing mechanism 13 to move along the second direction so that the pressing mechanism 13 presses or releases the article.

[0037] The first direction and the second direction are two mutually perpendicular directions. The first direction is the length direction of the clamping device 10 , that is, the length direction of the robot, and the second direction is the height direction of the clamping device 10 , that is, the height direction of the robot.

[0038] As an example, the clamping device 10 includes a fixed plate 11, a clamping mechanism 12, a pressing mechanism 13, a first adjusting mechanism 14 and a second adjusting mechanism 15; the fixed plate 11 is a plate-like structure, which serves as an installation support reference and can provide support for other parts of the clamping device 10; the fixed plate 11 can also be connected to an industrial robot or automated equipment through a quick-change device 70 to enable the clamping device 10 to be installed on the industrial robot or automated equipment, thereby providing convenience for the robot to use the clamping device 10. During installation, the clamping mechanism 12 is movably installed on the fixed plate 11 along the first direction, and the pressing mechanism 13 is movably installed on the fixed plate 11 along the second direction. The first adjusting mechanism 14 is arranged on the fixed plate 11 and is connected to the clamping mechanism 12, which can drive the clamping mechanism 12 to move along the first direction so that the clamping mechanism 12 clamps or releases the article; the second adjusting mechanism 15 is arranged on the fixed plate 11 and is connected to the pressing mechanism 13, which can drive the pressing mechanism 13 to move along the second direction so that the pressing mechanism 13 presses or does not press the article; in this way, when it is necessary to clamp the article, the clamping mechanism 12 is first controlled to work by the first adjusting mechanism 14, so that the clamping mechanism 1 2 moves along the first direction toward the object to achieve clamping of the object; then the second adjusting mechanism 15 controls the pressing mechanism 13 to operate, so that the pressing mechanism 13 moves along the second direction toward the object to achieve pressing of the object and also to limit the position of the object; when it is not necessary to clamp the object, the second adjusting mechanism 15 controls the pressing mechanism 13 to operate, so that the pressing mechanism 13 moves along the second direction away from the object to achieve releasing of the object; then the first adjusting mechanism 14 controls the clamping mechanism 12 to operate, so that the clamping mechanism 12 moves along the first direction away from the object to achieve releasing of the object.

[0039] In this example, the clamping mechanism 12 and the pressing mechanism 13 cooperate to form a clamping space for clamping items. The first adjustment mechanism 14 and the second adjustment mechanism 15 can accurately control the operation of the clamping mechanism 12 and the pressing mechanism 13 to achieve clamping of items from two directions, ensuring that the clamping of the items is more stable and reliable, improving the accuracy and stability of the clamping device 10 in clamping the items, avoiding damage to the items, and meeting the use requirements; at the same time, the clamping mechanism 12 can move along the first direction, and the pressing mechanism 13 can move along the second direction, which can expand or shrink the clamping space to adapt to items of different specifications and sizes (for example, it can be compatible with material trays for holding materials of different materials, such as aluminum profile items and plastic material trays, and can be compatible with material trays of different models, with a length range of 250mm-420mm, a width range of 180mm-335mm, and a thickness range of 3mm-25mm), thereby improving the applicability of the clamping device 10.

[0040] In one embodiment, referring to Figure 5The first adjusting mechanism 14 includes a first adjusting motor 141, an adjusting driving wheel 142, an adjusting driven wheel 143 and an adjusting transmission belt 144; the first adjusting motor 141 is mounted on the fixed plate 11, the adjusting driving wheel 142 is mounted on the output shaft of the first adjusting motor 141, the adjusting driven wheel 143 is rotatably mounted on the fixed plate 11, and the adjusting driven wheel 143 and the adjusting driving wheel 142 are spaced apart along the first direction; the adjusting transmission belt 144 is sleeved on the adjusting driving wheel 142 and the adjusting driven wheel 143; the clamping mechanism 12 includes two track assemblies 121 and two clamping jaw assemblies 122; the two track assemblies 121 are spaced apart on the fixed plate 11 along the third direction, and each clamping jaw assembly 122 is movably mounted on a track assembly 121 along the first direction; the adjusting transmission belt 144 is connected to the two clamping jaw assemblies 122 for driving the two clamping jaw assemblies 122 to move in relative directions or opposite directions.

[0041] The third direction is a direction perpendicular to the first direction and the second direction, and is the width direction of the clamping device 10 , that is, the width direction of the robot.

[0042] As an example, the first adjusting motor 141 drives the adjusting active wheel 142 to rotate clockwise or counterclockwise, which can drive the adjusting driven wheel 143 and the adjusting transmission belt 144 to rotate accordingly, thereby driving the two clamping jaw assemblies 122 to move in relative directions or opposite directions on the two track assemblies 121 respectively, thereby adjusting the distance between the two clamping jaw assemblies 122 to clamp or release items of different specifications and sizes, thereby improving the applicability and working efficiency of the clamping mechanism 12.

[0043] In one embodiment, referring to Figure 5 The track assembly 121 includes a guide rail 1211 and a guide slider 1212; during installation, the guide rail 1211 is set on the fixed plate 11 along the first direction, and the guide slider 1212 is set on the clamping jaw assembly 122. The guide slider 1212 is movably installed on the guide rail 1211 to provide guidance and limitation for the movement of the clamping jaw assembly 122, so as to facilitate the adjustment of the position of the clamping jaw assembly 122 to meet the needs of clamping items of different specifications and sizes.

[0044] In one example, the guide rail 1211 is set on the clamping jaw assembly 122 along the first direction, the guide slider 1212 is set on the fixed plate 11, and the guide slider 1212 is movably installed on the guide rail 1211, which can also achieve the above functions.

[0045] In one embodiment, referring to Figure 4 and Figure 5The clamping jaw assembly 122 includes a support member 1221 and a clamping jaw body 1222, and the support member 1221 is a long plate-shaped structure; during installation, the support member 1221 is installed on the track assembly 121, and the adjustment transmission belt 144 is connected to the first end of the support member 1221, and the clamping jaw body 1222 is installed at the second end of the support member 1221; in this way, the support member 1221 can be driven to move on the track assembly 121 by adjusting the transmission belt 144, thereby adjusting the position of the clamping jaw body 1222 to enable the clamping jaw body 1222 to clamp the object. In the two clamping jaw assemblies 122, the length of the support member 1221 of one clamping jaw assembly 122 is greater than the length of the support member 1221 of the other clamping jaw assembly 122, and the clamping jaw bodies 1222 of the two clamping jaw assemblies 122 are arranged relative to each other along the first direction, so that the space between the two clamping jaw bodies 1222 is a space for clamping objects. By adjusting the transmission belt 144, the two support members 1221 can be driven to move simultaneously in relative directions or opposite directions on the two track assemblies 121, thereby adjusting the distance between the two clamping jaw bodies 1222 to clamp or release objects of different specifications and sizes, thereby improving the applicability and working efficiency of the clamping mechanism 12.

[0046] In one embodiment, referring to Figure 5 The clamping jaw body 1222 includes a clamping plate 12221 and a support plate 12222. During installation, the clamping plate 12221 is mounted on the second end of the support member 1221. The two clamping plates 12221 are arranged relative to each other along a first direction, forming a space between the two clamping plates 12221 for clamping an object. The support member 1221 is moved on the track assembly 121 by adjusting the transmission belt 144, thereby driving the clamping plates 12221 to move and clamp the object. The support plate 12222 is a component extending from one end of the clamping plate 12221 in a direction perpendicular to the clamping plate 12221. The support plate 12222 is located between the two clamping plates 12221 and can provide limited support for the object, thereby enhancing the stability and safety of the clamping mechanism 12 in clamping the object.

[0047] In one embodiment, referring to Figure 5 The second adjusting mechanism 15 includes a second adjusting motor 151 and a telescopic column 152; during installation, the second adjusting motor 151 is installed on the fixed plate 11, the first end of the telescopic column 152 is connected to the second adjusting motor 151, and the second end of the telescopic column 152 is connected to the pressing mechanism 13. In this way, the second adjusting motor 151 can control the telescopic column 152 to extend and retract, thereby driving the pressing mechanism 13 to move along the second direction, so as to control the pressing mechanism 13 to press down or rise, thereby achieving or not pressing the objects.

[0048] In one embodiment, referring to Figure 4The pressing mechanism 13 includes a connecting assembly 131, a support plate 132, and an elastic pressure plate 133. During installation, the support plate 132 is movably mounted on the fixed plate 11 along the second direction via the connecting assembly 131. Specifically, the connecting assembly 131 is movably mounted on the fixed plate 11 along the second direction, and the support plate 132 is mounted on the connecting assembly 131. The connecting assembly 131 can be used to provide guidance and position limits for adjusting the position of the support plate 132. The elastic pressure plate 133 is mounted on the support plate 132, and the elastic pressure plate 133 is arranged relative to the position of the object. The second end of the telescopic column 152 is connected to the support plate 132. With this arrangement, the second adjustment motor 151 can control the telescopic column 152 to extend and retract, thereby driving the support plate 132 of the pressing mechanism 13 to move along the second direction, so as to control the support plate 132 to press down or rise, so that the elastic pressure plate 133 can press or not press the object. At the same time, the connecting assembly 131 can be used to provide guidance and position limits for adjusting the position of the support plate 132. The elastic pressure plate 133 is an elastic structure with a buffering function, which can prevent it from hard contact with the object and causing damage to the object. In addition, an escape space 12223 for escaping the pressing mechanism 13 is provided on at least one clamping plate 12221; the support plate 132 includes a main body 1321 and a support portion 1322 extending from a side edge of the main body 1321 along a first direction; the main body 1321 is movably mounted on the fixed plate 11 along a second direction through the connecting component 131, and is connected to the second end of the telescopic column 152 of the second adjustment mechanism 15. The support portion 1322 is arranged in the escape space 12223 of a clamping plate 12221, and the elastic pressure plate 133 is mounted on the support The support portion 1322 is located at one end away from the main body 1321, in the clamping space, and is arranged opposite to the position of the article; with this arrangement, the first adjustment mechanism 14 first controls the two clamping jaw assemblies 122 to move along the first direction to clamp the article, and the second adjustment mechanism 15 controls the support plate 132 and the elastic pressure plate 133 to move along the second direction to press the article, thereby clamping the article from two directions, ensuring that the clamping of the article is more stable and firm, improving the accuracy and stability of the clamping device 10 in clamping the article, avoiding damage to the article, and meeting the use requirements.

[0049] In one embodiment, referring to Figure 4 and Figure 5 The connecting assembly 131 includes a connecting column 1311 and a connecting seat 1312; during installation, the connecting column 1311 is installed on the support plate 132 along the second direction, and the connecting seat 1312 is installed on the fixed plate 11 along the second direction, and the connecting column 1311 is passed through the connecting seat 1312; in this way, when the second adjustment mechanism 15 drives the support plate 132 to move along the second direction, the connecting column 1311 cooperates with the connecting seat 1312 to provide guidance and limitation for adjusting the position of the support plate 132, thereby ensuring that the elastic pressure plate 133 can accurately press or not press the objects.

[0050] In one example, the connecting column 1311 is installed on the fixing plate 11 along the second direction, the connecting seat 1312 is installed on the supporting plate 132 along the second direction, and the connecting column 1311 is inserted into the connecting seat 1312, which can also achieve the above functions.

[0051] In one embodiment, referring to Figure 4 and Figure 5 The clamping device 10 also includes a monitoring camera 16, a rangefinder 17 and a controller; during installation, the monitoring camera 16 is set on the clamping mechanism 12 to collect the size information of the object; the rangefinder 17 is set on the pressing mechanism 13 to collect the distance information between the pressing mechanism 13 and the object; the controller is respectively connected to the monitoring camera 16, the rangefinder 17, the first adjustment mechanism 14 and the second adjustment mechanism 15, and can control the clamping mechanism 12 to work according to the size information collected by the monitoring camera 16, and control the pressing mechanism 13 to work according to the distance information collected by the rangefinder 17, so as to ensure the accuracy and safety of the clamping device 10 in clamping the object. When it is necessary to clamp an object, the controller first controls the first adjusting mechanism 14 to drive the clamping mechanism 12 to work according to the size information collected by the monitoring camera 16, so that the clamping mechanism 12 moves along the first direction toward the object to clamp the object; the controller then controls the second adjusting mechanism 15 to drive the pressing mechanism 13 to work according to the distance information collected by the rangefinder 17, so that the pressing mechanism 13 moves along the second direction toward the object to press the object, and at the same time, the object can also be limited; when it is not necessary to clamp an object, the controller first controls the second adjusting mechanism 15 to drive the pressing mechanism 13 to work according to the distance information collected by the rangefinder 17, so that the pressing mechanism 13 moves along the second direction away from the object to release the object; the controller then controls the first adjusting mechanism 14 to drive the clamping mechanism 12 to work according to the size information collected by the monitoring camera 16, so that the clamping mechanism 12 moves along the first direction away from the object to release the object.

[0052] In one embodiment, referring to Figure 10 The pan-tilt device 30 includes a base plate 31, a lifting mechanism 32, a rotating mechanism 33 and a swing mechanism 34; the lifting mechanism 32 is installed on the base plate 31, the rotating mechanism 33 is installed on the lifting mechanism 32, the swing mechanism 34 is installed on the rotating mechanism 33, and the target device 40 is installed on the swing mechanism 34; the lifting mechanism 32, the rotating mechanism 33 and the swing mechanism 34 cooperate to adjust the posture of the target device 40.

[0053] As an example, the pan-tilt assembly 30 is used to support a target device 40, such as a 3D camera. The pan-tilt assembly 30 adjusts the 3D camera's posture to position the 3D camera appropriately, allowing it to observe detailed target information, provide RGB and point cloud information for the large model, and continuously sense external conditions. The pan-tilt assembly 30 specifically includes a base plate 31, a lifting mechanism 32, a rotating mechanism 33, and a rocking mechanism 34. During installation, the base plate 31 serves as a mounting base, providing support for the other components of the pan-tilt assembly 30. The base plate 31 can be screwed, clamped, or welded to an industrial robot or automated equipment, enabling the pan-tilt assembly 30 to be installed on the industrial robot or automated equipment. The lifting mechanism 32 is installed on the base plate 31, and the lifting mechanism 32 can be lifted and lowered along the height direction of the base plate 31 (that is, the height direction of the robot, that is, the second direction); the rotating mechanism 33 is installed on the lifting mechanism 32, and the rotating mechanism 33 can rotate around the height direction of the base plate 31 (that is, the height direction of the robot); the swing mechanism 34 is installed on the rotating mechanism 33, and the swing mechanism 34 can swing around a direction perpendicular to the height direction of the base plate 31 (that is, the length direction or width direction of the base plate 31, which can also be said to be the length direction or width direction of the robot, that is, the first direction or the third direction).

[0054] In this example, the target device 40 is mounted on a rocking mechanism 34. The rocking mechanism 34 can drive the target device 40 to rock in a direction perpendicular to the height direction of the substrate 31. The rotating mechanism 33 can drive the rocking mechanism 34 and the target device 40 to rotate in the height direction of the substrate 31. The lifting mechanism 32 can drive the rotating mechanism 33, the rocking mechanism 34, and the target device 40 to rise and fall along the height direction of the substrate 31. The lifting mechanism 32, the rotating mechanism 33, and the rocking mechanism 34 cooperate to adjust the target device 40 from multiple angles and directions, enabling the target device 40 to be located in a suitable observation position and observe detailed target information. This increases the movement forms of the pan-tilt device 30 and meets the multi-angle and multi-directional adjustment requirements. For example, the pan-tilt device 30 is used in large models such as robots. When the target device 40 is a 3D camera, the pan-tilt device 30 can flexibly adjust the visual angle of the 3D camera to adapt to the actual application scenario and provide a suitable viewing angle for the large model.

[0055] In one embodiment, referring to Figure 10 、 Figure 11 、 Figure 12 、 Figure 13 and Figure 14The lifting mechanism 32 includes a base frame 321, an X-shaped connecting rod assembly 322 and a first driving assembly 323; the base frame 321 and the base plate 31 are spaced apart in the vertical direction of the base plate 31; the X-shaped connecting rod assembly 322 includes a first connecting rod 3221, a second connecting rod 3222, a fixed support 3223 and a movable support 3224; the first connecting rod 3221 and the second connecting rod 3222 are cross-connected through a connecting shaft; the first end of the first connecting rod 3221 is mounted on the base plate 31 through a fixed support 3223, and the second connecting rod 3224 is cross-connected through a connecting shaft. The second end of the first connecting rod 3221 is mounted on the base frame 321 through a movable support 3224 and is movable along the horizontal direction of the base frame 31; the first end of the second connecting rod 3222 is mounted on the base frame 31 through a movable support 3224 and is movable along the horizontal direction of the base frame 31, and the second end of the second connecting rod 3222 is mounted on the base frame 321 through a fixed support 3223; the first driving assembly 323 is connected to the movable support 3224, and is used to move the first connecting rod 3221 and the second connecting rod 3222 in opposite directions. The rotating mechanism 33 includes a first supporting shell 331, a rotating shaft seat 332, a rotating shaft 333 and a second driving assembly 334. The first supporting shell 331 is mounted on the lifting mechanism 32, the rotating shaft seat 332 is arranged on the first supporting shell 331, the first end of the rotating shaft 333 is rotatably mounted in the rotating shaft seat 332, and the second end of the rotating shaft 333 is connected to the swing mechanism 34. The second driving assembly 334 is connected to the rotating shaft 333 to drive the rotating shaft 333 to rotate. The swing mechanism 34 includes a second support shell 341, a swing support 342, a rotating shaft 343, a swing bracket 344 and a third driving assembly 345; the second support shell 341 is mounted on the rotating mechanism 33, the swing support 342 is mounted on the second support shell 341, one end of the rotating shaft 343 is rotatably mounted on the swing support 342, and one end of the swing bracket 344 is mounted on the rotating shaft 343; the third driving assembly 345 is connected to the rotating shaft 343 for driving the rotating shaft 343 to rotate.

[0056] As an example, the first link 3221 and the second link 3222 are cross-connected through a connecting shaft, and the first link 3221 and the second link 3222 rotate in opposite directions or in opposite directions around the connecting shaft to adjust the support height of the X-shaped link assembly 322. The first end of the first link 3221 is mounted on the base plate 31 through a fixed support 3223, the second end of the first link 3221 is mounted on the base frame 321 through a movable support 3224 for movement along the horizontal direction of the base plate 31, the first end of the second link 3222 is mounted on the base frame 31 through a movable support 3224 for movement along the horizontal direction of the base plate 31, the second end of the second link 3222 is mounted on the base frame 321 through a fixed support 3223, the first driving assembly 323 is connected to the movable support 3224, and the first driving assembly 323 drives the movable support 3224 to move, so that the first link 3221 and the second link 3222 can rotate in opposite directions or in opposite directions to adjust the support height of the X-shaped link assembly 322, thereby driving the base frame 321 and the rotating mechanism 33, the rocking mechanism 34 and the target device 40 mounted on the base frame 321 to rise and fall along the height direction of the base plate 31, that is, the height direction of the robot, so as to facilitate adjustment of the target device 40 to a suitable observation height. The second drive assembly 334 can drive the rotation shaft 333 to rotate, thereby driving the swing mechanism 34 and the target device 40 to rotate about the axis of the rotation shaft 333 (i.e., the height direction of the substrate 31), thereby aligning the target device 40 with the appropriate observation direction and observing detailed target information. The third drive assembly 345 can drive the rotation shaft 343 to rotate, thereby driving the target device 40 to swing about the axis of the rotation shaft 343 (i.e., perpendicular to the height direction of the substrate 31), thereby adjusting the pitch angle of the target device 40, aligning the target device 40 with the appropriate observation direction and observing detailed target information.

[0057] In one embodiment, referring to Figure 12 The lifting mechanism 32 also includes two first trigger switches 324 and a first sensing member 325; during installation, the two first trigger switches 324 are arranged on the substrate 31 or the base frame 321 at intervals along the horizontal direction of the substrate 31, and are both connected to the first driving component 323, one first trigger switch 324 serves as a starting switch, and the other first trigger switch 324 serves as a termination switch; the first sensing member 325 is arranged on a movable support 3224, and the first driving component 323 drives the movable support 3224 to move, so that the first sensing member 325 senses or contacts the two first trigger switches 324 in turn, and can output a sensing signal to determine its position, thereby limiting the working stroke of the movable support 3224, so as to limit the working time of the first driving component 323, thereby limiting the lifting stroke of the lifting mechanism 32.

[0058] In one embodiment, referring to Figure 11The first drive assembly 323 includes a drive motor 3231, a screw seat 3232, a screw rod 3233 and a drive block 3234; when installing, the drive motor 3231 and the screw seat 3232 are spaced apart in the horizontal direction of the base plate 31, the first end of the screw rod 3233 is connected to the output end of the drive motor 3231, and the second end of the screw rod 3233 is passed through the screw seat 3232; the drive block 3234 is movably mounted on the screw rod 3233 and connected to a movable support 3224 of the X-shaped connecting rod assembly 322 through a connecting piece; in this way, the drive motor 3231 is rotated forward or reversed. , which can drive the screw rod 3233 to rotate forward or reverse, prompting the driving block 3234 to move on the screw rod 3233 to drive the movable support 3224 to move in the horizontal direction of the base plate 31, so that the first link 3221 and the second link 3222 rotate in opposite directions or in opposite directions to adjust the support height of the X-shaped link assembly 322, thereby driving the base frame 321 and the rotating mechanism 33, the rocking mechanism 34 and the target device 40 installed on the base frame 321 to rise and fall in the height direction of the base plate 31, that is, the height direction of the robot, so as to facilitate the adjustment of the target device 40 to a suitable observation height.

[0059] In one embodiment, referring to Figure 12 The lifting mechanism 32 also includes a guide assembly 326; the guide assembly 326 includes a guide rail 3261 and a guide block 3262; during installation, one of the guide rail 3261 and the guide block 3262 is set on the base plate 31, and the other is set on the X-shaped connecting rod assembly 322, and the guide block 3262 is movably mounted on the guide rail 3261; with this arrangement, when the support height of the X-shaped connecting rod assembly 322 is adjusted, when the first driving assembly 323 drives the movable support 3224 to move, the guide block 3262 movably mounted on the guide rail 3261 can provide guidance and limitation for the movement of the movable support 3224, thereby avoiding misalignment and offset when the movable support 3224 moves, thereby being able to more smoothly adjust the support height of the X-shaped connecting rod assembly 322 and ensure the stability of the lifting mechanism 32. Among them, there are two guide assemblies 326, and each guide assembly 326 corresponds to an X-shaped connecting rod assembly 322; the two guide assemblies 326 provide guidance and limitation for the two X-shaped connecting rod assemblies 322 respectively, further improving the stability of the lifting mechanism 32 and providing safety guarantee for adjusting the height of the target device 40.

[0060] In one embodiment, referring to Figure 11 、 Figure 12 and Figure 13The second driving assembly 334 includes a rotating motor 3341, a first driving wheel 3342, a first driven wheel 3343, and a first conveyor belt 3344. During installation, the rotating motor 3341 and the rotating shaft seat 332 are spaced apart in the horizontal direction of the substrate 31. The first driving wheel 3342 is mounted on the output shaft of the rotating motor 3341, the first driven wheel 3343 is mounted on the rotating shaft 333, and the first conveyor belt 3344 is sleeved on the first driving wheel 3342 and the first driven wheel 3343. In this arrangement, the rotating motor 3341 rotates forward or reverse, driving the first driving wheel 3342 to rotate forward or reverse. The first conveyor belt 3344 can drive the first driven wheel 3343 to rotate forward or reverse, thereby driving the rotating shaft 333 to rotate clockwise or counterclockwise, thereby driving the swing mechanism 34 and the target device 40 to rotate around the axis of the rotating shaft 333 (i.e., the height direction of the substrate 31), so as to make the target device 40 face the appropriate observation direction and observe detailed target information.

[0061] In one embodiment, referring to Figure 12 and Figure 13 The rotating mechanism 33 also includes a second trigger switch 335 and a second sensing element 336; during installation, the second trigger switch 335 is set on the first supporting shell 331 and connected to the rotating motor 3341, and the second sensing element 336 is set on the swing mechanism 34; in this way, when the second driving component 334 drives the rotating shaft 333 to rotate clockwise or counterclockwise, it can drive the swing mechanism 34 and the target device 40 to rotate around the axis of the rotating shaft 333, so as to drive the second sensing element 336 to sense or contact the second trigger switch 335, and can output a sensing signal to determine its position, thereby realizing the control of the rotation stroke of the rotating mechanism 33.

[0062] In one embodiment, referring to Figure 11 The third driving assembly 345 includes a swing motor 3451, a second driving wheel 3452, a second driven wheel 3453 and a second conveyor belt 3454; when installing, the swing motor 3451 and the swing support 342 are spaced apart in the horizontal direction of the base plate 31, the second driving wheel 3452 is installed on the output shaft of the swing motor 3451, the second driven wheel 3453 is installed on the rotating shaft 343, and the second conveyor belt 3454 is sleeved on the second driving wheel 3452 and the second driven wheel 3453; in this way, The swing motor 3451 rotates forward or reverse, driving the second driving wheel 3452 to rotate forward or reverse, and the second driven wheel 3453 can be driven forward or reverse through the second conveyor belt 3454, thereby driving the rotating shaft 343 to rotate clockwise or counterclockwise, so as to drive the target device 40 to swing around the axis of the rotating shaft 343 (i.e., the direction perpendicular to the height direction of the substrate 31), so as to adjust the pitch angle of the target device 40, so that the target device 40 is oriented to a suitable observation direction and observe detailed target information.

[0063] In one embodiment, referring to Figure 13 and Figure 14 The swing mechanism 34 also includes a third trigger switch 346 and a third sensor 347; during installation, the third trigger switch 346 is set on the swing support 342 and connected to the swing motor 3451, and the third sensor 347 is set on the swing bracket 344; in this way, when the third driving component 345 drives the rotating shaft 343 to rotate clockwise or counterclockwise, it can drive the swing bracket 344 and the target device 40 to swing around the axis of the rotating shaft 343, so as to drive the third sensor 347 to sense or contact the third trigger switch 346, and can output a sensing signal to determine its position, thereby realizing the control of the swing stroke of the swing mechanism 34.

[0064] In one embodiment, referring to Figure 13 and Figure 14 The swing mechanism 34 also includes a limit plate 348. During installation, the limit plate 348 is installed on the second supporting shell 341. A movable groove 349 is provided on the limit plate 348 along the horizontal direction of the base plate 31. The swing bracket 344 is located in the movable groove 349. In this way, when the third driving component 345 drives the rotating shaft 343 to rotate clockwise or counterclockwise, the swing bracket 344 can be driven to swing in the movable groove 349. The movable groove 349 provides guidance and limitation for the swing bracket 344 to prevent the swing bracket 344 from being dislocated or offset.

[0065] In one embodiment, referring to Figure 1 and Figure 2 The robot also includes a silo device 20; the silo device 20 is arranged on the middle cabinet 60 for placing items; the robotic arm 50 is used to control the clamping device 10 to place the items in the silo device 20.

[0066] As an example, the robot also includes a silo device 20; when installed, the silo device 20 is set on the middle cabinet 60 and can be used to place items; with this setting, the robotic arm 50 can control the clamping device 10 to place items in the silo device 20, providing convenience for transporting and placing items.

[0067] In one embodiment, referring to Figure 9 The silo device 20 includes a connecting frame 21 and at least two silo mechanisms 22: the at least two silo mechanisms 22 are spaced apart along the second direction, and a connecting frame 21 is provided between two adjacent silo mechanisms 22.

[0068] As an example, the silo device 20 includes a connecting frame 21 and at least two silo mechanisms 22: the at least two silo mechanisms 22 are spaced apart along the second direction. This arrangement allows the at least two silo mechanisms 22 to be used to store the same or different items. For example, one silo mechanism 22 is used to store unprocessed materials, while the other silo mechanism 22 is used to store processed materials. A connecting frame 21 is provided between two adjacent silo mechanisms 22. The connecting frame 21 can separate and support the two adjacent silo mechanisms 22, allowing them to be arranged in an upper and lower layer. This ensures the stability of the silo mechanisms 22, reduces the robot's planar projection size, and saves site space and land costs.

[0069] In one example, referring to Figure 9 The connecting frame 21 includes two support arms 211 and multiple reinforcing arms 212; when installed, the support arms 211 are arranged along the second direction, and the two ends of each support arm 211 are respectively connected to the support frames 221 of the two adjacent silo mechanisms 22, and are located on the side where the first fixed baffle 222 and the second fixed baffle 224 are located; in this way, the two silo mechanisms 22 are separated and supported by the two support arms 211, so that the two silo mechanisms 22 are arranged in an upper and lower layer arrangement to ensure the stability of the silo mechanism 22; in the space between the two silo mechanisms 22, the two support arms 211 are spaced apart along the first direction, respectively corresponding to the positions of the two second fixed baffles 224, so that space for activities can be reserved, which is convenient for taking and placing items. The support arms 211 are arc-shaped and located at the corners of the support frames 221. Thus, two horizontal and vertical connection portions are formed between the ends of each support arm 211 and a support frame 221. This enhances the connectivity between the support arms 211 and the silo mechanism 22, thereby improving the stability of the silo device 20. Each reinforcement arm 212 is connected to a support arm 211 and a support frame 221; this arrangement increases the connection area between the support arms 211 and the silo mechanism 22, further enhancing the connectivity between the support arms 211 and the silo mechanism 22, thereby improving the stability of the silo device 20.

[0070] In one embodiment, referring to Figure 6 and Figure 7 The silo mechanism 22 is provided on the connecting frame 21 of the silo device 20, referring to Figure 1 and Figure 2The silo mechanism 22 includes a support frame 221, a first fixed baffle 222, a first locking structure 223, a second fixed baffle 224 and a second locking structure 225; the support frame 221 is used to place items; the first fixed baffle 222 is arranged on a first side of the support frame 221, and the first locking structure 223 is movably arranged along a first direction at a position corresponding to the support frame 221 and the first fixed baffle 222; the second fixed baffle 224 is arranged on a second side of the support frame 221, and the second locking structure 225 is movably arranged along a third direction at a position corresponding to the support frame 221 and the second fixed baffle 224; wherein the first side and the second side are two adjacent sides.

[0071] Among them, the first direction and the third direction are two mutually perpendicular directions. The first direction is the length direction of the silo mechanism 22, that is, the length direction of the robot, and the third direction is the width direction of the silo mechanism 22, that is, the width direction of the robot.

[0072] As an example, the hopper mechanism 22 is used to place items (such as a tray for holding materials), and specifically includes a support frame 221, a first fixed baffle 222, a first locking structure 223, a second fixed baffle 224 and a second locking structure 225; during installation, the support frame 221 is used as an installation reference, and the first fixed baffle 222 is installed on the first side of the support frame 221 by screwing, welding or clamping, and the first locking structure 223 is movably arranged in a first direction at a position corresponding to the support frame 221 and the first fixed baffle 222; in this way, when an item is placed on the support frame 221, the first fixed baffle 222 provides a fixed positioning for the item in the first direction, and then the first locking structure 223 is movable on the support frame 221 along the first direction, and can push the item to move toward the position of the first fixed baffle 222 in the first direction, thereby realizing locking and positioning of the item in the first direction. The second fixed baffle 224 is installed on the second side of the support frame 221 by screwing, welding or clamping, and the second locking structure 225 is movably set in the third direction at the position corresponding to the support frame 221 and the second fixed baffle 224; with this arrangement, when an article is placed on the support frame 221, the second fixed baffle 224 provides fixed positioning for the article in the third direction, and then the second locking structure 225 is movable in the third direction on the support frame 221, and can push the article to move toward the position of the second fixed baffle 224 in the third direction, thereby realizing locking and positioning of the article in the third direction.

[0073] In this example, the first fixed baffle 222 and the first locking structure 223 are used to lock and position the items in the first direction, and the second fixed baffle 224 and the second locking structure 225 are used to lock and position the items in the third direction, which can ensure the stability and safety of the placement of the items and prevent the items from shaking and being damaged; and the first locking structure 223 can be moved along the first direction, so that the distance between the first locking structure 223 and the first fixed baffle 222 can be adjusted, and the second locking structure 225 can be moved along the third direction, so that the distance between the second locking structure 225 and the second fixed baffle 224 can be adjusted to accommodate items of different specifications and sizes, thereby improving the applicability of the silo mechanism 22.

[0074] In addition, when multiple layers of items are placed on the support frame 221, there may be a situation where they are not placed neatly, which may cause unstable stacking of items, increase the risk of collapse, and easily cause personal injury and damage to items; in the first direction, the first fixed baffle 222 is used to provide alignment and positioning for the items, and then the first locking structure 223 is moved along the first direction, which can simultaneously push the multiple layers of items toward the position of the first fixed baffle 222, thereby achieving alignment of the multiple layers of items in the first direction; in the third direction, the second fixed baffle 224 is used to provide alignment and positioning for the items, and then the second locking structure 225 is moved along the third direction, which can simultaneously push the multiple layers of items toward the position of the second fixed baffle 224, thereby achieving alignment of the multiple layers of items in the third direction; this can make the multiple layers of items neatly placed, improve the stability of item stacking, reduce the risk of collapse, and avoid personal injury and damage to items.

[0075] In one embodiment, referring to Figure 7 and Figure 8The support frame 221 includes a bottom plate 2211, a support rod 2212 and a placement plate 2213; the bottom plate 2211 and the placement plate 2213 are spaced apart along the second direction, the first end of the support rod 2212 is connected to the bottom plate 2211, and the second end of the support rod 2212 is connected to the placement plate 2213; the first fixed baffle 222 is set on the bottom plate 2211, located on the first side of the placement plate 2213, and the placement plate 2213 is provided with a first movable groove 2214 set along the first direction; the first locking structure 223 includes a first movable baffle 2231 and a first movable assembly 223 2; The first movable baffle 2231 is movably installed in the first movable groove 2214 and is arranged opposite to the first fixed baffle 222; the first movable assembly 2232 includes a first movable motor 22321, a first support 22322, a first screw 22323 and a first driving member 22324; the first movable motor 22321 and the first support 22322 are spaced apart along the first direction, the first end of the first screw 22323 is connected to the output end of the first movable motor 22321, the second end of the first screw 22323 is inserted into the first support 22322, and the first The driving member 22324 is movably mounted on the first screw 22323, and the first driving member 22324 is connected to the first movable baffle 2231; the second fixed baffle 224 is arranged on the bottom plate 2211, located on the second side of the placement plate 2213, and the placement plate 2213 is provided with a second movable groove 2215 arranged along the third direction; the second locking structure 225 includes a second movable baffle 2251 and a second movable component 2252; the second movable baffle 2251 is movably mounted in the second movable groove 2215 and is arranged opposite to the second fixed baffle 224 ... Component 2252 includes a second mobile motor 22521, a second support 22522, a second screw 22523 and a second driving member 22524; the second mobile motor 22521 and the second support 22522 are spaced apart along the third direction, the second end of the second screw 22523 is connected to the output end of the second mobile motor 22521, the second end of the second screw 22523 is passed through the second support 22522, the second driving member 22524 is movably installed on the second screw 22523, and the second driving member 22524 is connected to the second movable baffle 2251.

[0076] The second direction is a direction perpendicular to the first direction and the third direction, and the second direction is the height direction of the silo mechanism 22 , that is, the height direction of the robot.

[0077] As an example, the bottom plate 2211, the support rod 2212 and the placement plate 2213 cooperate to form two layers of placement space. The first layer of placement space is between the bottom plate 2211 and the placement plate 2213, which is used to place other parts of the silo mechanism 22; the second layer of placement space is on the placement plate 2213, which is used to place items. By the forward or reverse rotation of the first moving motor 22321, the first screw 22323 can be driven to rotate forward or reverse to drive the first driving member 22324 to move along the first direction on the first screw 22323, thereby causing the first movable baffle 2231 to move along the first direction in the first movable groove 2214, so that the first movable baffle 2231 and the first fixed baffle 222 cooperate to lock and position the article in the first direction. The screw assembly is used to realize step-by-step adjustment of the first movable baffle 2231 according to the thread feed amount, thereby improving the accuracy of the equipment, and can prevent the first movable baffle 2231 from moving a small distance and failing to achieve locking and positioning of the article, and can also prevent the first movable baffle 2231 from moving a large distance and causing damage to the article; at the same time, by adjusting the distance between the first movable baffle 2231 and the first fixed baffle 222, it can adapt to articles of different specifications and sizes, thereby improving the applicability of the silo mechanism 22. By the forward or reverse rotation of the second moving motor 22521, the second screw 22523 can be driven to rotate forward or reverse to drive the second driving member 22524 to move along the third direction on the second screw 22523, so that the second moving baffle 2251 can move along the third direction in the second moving groove 2215, so that the second moving baffle 2251 and the second fixed baffle 224 can cooperate to lock and position the article in the third direction; the screw assembly is used to realize step-by-step adjustment of the second moving baffle 2251 according to the thread feed amount, thereby improving the accuracy of the equipment, and can avoid the second moving baffle 2251 from moving a small distance, which cannot achieve locking and positioning of the article, and can also avoid the second moving baffle 2251 from moving a large distance, which causes damage to the article; at the same time, by adjusting the distance between the second moving baffle 2251 and the second fixed baffle 224, it can adapt to articles of different specifications and sizes, thereby improving the applicability of the silo mechanism 22.

[0078] In one embodiment, referring to Figure 8The first locking structure 223 also includes a first guide rail assembly 2233, and the first guide rail assembly 2233 includes a first guide rail 22331 and a first slider 22332; during installation, one of the first guide rail 22331 and the first slider 22332 is set on the base plate 2211, and the other is set on the first driving member 22324, and the first slider 22332 is slidably installed on the first guide rail 22331. In this way, the first guide rail assembly 2233 can provide a guide limit for the movement of the first driving member 22324, thereby providing a guide limit for the movement of the first movable baffle 2231, thereby avoiding the first movable baffle 2231 from being dislocated or offset and affecting the locking and positioning of the article. The second locking structure 225 also includes a second guide rail assembly 2253, and the second guide rail assembly 2253 includes a second guide rail 22531 and a second slider 22532; during installation, one of the second guide rail 22531 and the second slider 22532 is set on the base plate 2211, and the other is set on the second driving member 22524, and the second slider 22532 is slidably installed on the second guide rail 22531, so that the second guide rail assembly 2253 can provide a guide limit for the movement of the second driving member 22524, thereby providing a guide limit for the movement of the second movable baffle 2251, avoiding the misalignment and offset of the second movable baffle 2251 to affect the locking and positioning of the article.

[0079] In one embodiment, referring to Figure 6 and Figure 8 The first locking structure 223 also includes two first travel switches 2234 and a first sensing piece 2235; during installation, the two first travel switches 2234 are arranged on the bottom plate 2211 at intervals along the first direction, and are both connected to the first moving motor 22321, one first travel switch 2234 serves as a starting switch, and the other first travel switch 2234 serves as a termination switch; the first sensing piece 2235 is arranged on the first driving member 22324, and the first moving motor 22321 drives the first driving member 22324 to move through the first screw 22323, so that the first sensing piece 2235 senses or contacts the two first travel switches 2234 in turn, and can output a sensing signal to determine its position, thereby achieving the limitation of the working stroke of the first driving member 22324, so as to limit the working time of the first moving motor 22321. In this example, the distance that the first movable baffle 2231 needs to move is determined based on the specifications of the item, so that the distance between the two first limit switches 2234 is adjusted to control the working time of the first movable motor 22321, ensuring that the first movable motor 22321 can accurately adjust the moving distance of the first movable baffle 2231. This can prevent the first movable baffle 2231 from moving too small a distance and failing to lock and position the item, and can also prevent the first movable baffle 2231 from moving too large a distance and causing damage to the item.

[0080] The second locking structure 225 also includes two second travel switches 2254 and a second sensing piece 2255; during installation, the two second travel switches 2254 are arranged at intervals along the third direction on the bottom plate 2211, and are both connected to the second moving motor 22521, one second travel switch 2254 serves as a starting switch, and the other second travel switch 2254 serves as an ending switch; the second sensing piece 2255 is arranged on the second driving member 22524, and the second moving motor 22521 drives the second driving member 22524 to move through the second screw 22523, so that the second sensing piece 2255 senses or contacts the two second travel switches 2254 in turn, and can output a sensing signal to determine its position, thereby achieving the limitation of the working stroke of the second driving member 22524, so as to limit the working time of the second moving motor 22521. In this example, the distance that the second movable baffle 2251 needs to move is determined based on the specifications of the item, so that the distance between the two second limit switches 2254 is adjusted to control the working time of the second movable motor 22521, ensuring that the second movable motor 22521 can accurately adjust the moving distance of the second movable baffle 2251. This can prevent the second movable baffle 2251 from moving too small a distance and failing to lock and position the item, and can also prevent the second movable baffle 2251 from moving too large a distance and causing damage to the item.

[0081] In one embodiment, referring to Figure 7 The silo mechanism 22 further includes a first detection member 226 and a second detection member 227. During installation, the first detection member 226 is mounted on the support frame 221 to detect the weight of the items. When placing items, if the weight of the items reaches a preset standard, no more items are placed, thereby preventing damage to the silo mechanism 22 caused by excessive placement of items. The second detection member 227 is mounted on the first fixed baffle 222 or the second fixed baffle 224 to detect the height of the items. When placing items, if the height of the items reaches a preset standard, no more items are placed, thereby preventing the silo mechanism 22 from being unable to lock and position the items if they are placed too high.

[0082] In one embodiment, referring to Figure 6 and Figure 7 Two second fixed baffles 224 are spaced apart along the first direction, creating a clearance area for easily clamping items. One of the two second fixed baffles 224 is connected to or integral with the first fixed baffle 222. This arrangement forms a bidirectional baffle at a corner of the hopper mechanism 22, securing items placed on the hopper mechanism 22.

[0083] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A robot, characterized in that: It includes a clamping device, a pan / tilt device, a robotic arm and a middle cabinet; The middle cabinet is provided with a control module; The pan-tilt device is arranged on the middle cabinet, and a target device is provided on the pan-tilt device, and the target device is used to collect first sensing data and send the first sensing data to the control module; The mechanical arm is arranged on the middle cabinet, and the mechanical arm is connected to the clamping device; The control module is connected to the robotic arm and the clamping device, and is used to control the robotic arm to move to the target position where the object is located according to the first sensing data, and control the clamping device to clamp or not clamp the object.

2. The robot according to claim 1, characterized in that The robotic arm is provided with a monitor for collecting second sensing data and sending the second sensing data to the control module.

3. The robot according to claim 1, characterized in that The mechanical arm includes a fixed base, a first transfer arm, a second transfer arm, a third transfer arm, a fourth transfer arm, a fifth transfer arm and a transfer base; The fixed seat is installed on the middle cabinet, one end of the first transfer arm is rotatably installed on the fixed seat around the first axis, one end of the second transfer arm is rotatably installed on the first transfer arm around the second axis, three ends of the third transfer arm are rotatably installed on the second transfer arm around the second axis, one end of the fourth transfer arm is rotatably installed on the third transfer arm around the fourth axis, one end of the fifth transfer arm is rotatably installed on the fourth transfer arm around the fifth axis, one end of the transfer seat is rotatably installed on the fifth transfer arm around the sixth axis, and the transfer seat is connected to the clamping device.

4. The robot according to claim 1, characterized in that The robot also includes a mobile chassis; The mobile chassis is installed at the bottom of the middle cabinet.

5. The robot according to claim 1, characterized in that The robot further comprises a quick-change device, which is used to connect the robotic arm and the clamping device.

6. The robot according to claim 1, characterized in that The clamping device includes a fixing plate, a clamping mechanism, a pressing mechanism, a first adjusting mechanism and a second adjusting mechanism; The clamping mechanism is movably mounted on the fixing plate along a first direction, and the pressing mechanism is movably mounted on the fixing plate along a second direction; The first adjustment mechanism is disposed on the fixing plate and is connected to the clamping mechanism, and is used to drive the clamping mechanism to move along a first direction so that the clamping mechanism clamps or releases the article; The second adjustment mechanism is disposed on the fixing plate and is connected to the pressing mechanism, and is used to drive the pressing mechanism to move along a second direction so that the pressing mechanism presses or releases the article.

7. The robot according to claim 6, characterized in that The first adjustment mechanism includes a first adjustment motor, an adjustment driving wheel, an adjustment driven wheel and an adjustment transmission belt; The first adjusting motor is mounted on the fixed plate, the adjusting driving wheel is mounted on the output shaft of the first adjusting motor, the adjusting driven wheel is rotatably mounted on the fixed plate, and the adjusting driven wheel and the adjusting driving wheel are spaced apart along a first direction; The adjusting transmission belt is sleeved on the adjusting driving wheel and the adjusting driven wheel; The clamping mechanism includes two track assemblies and two clamping jaw assemblies; The two track assemblies are spaced apart from each other along the third direction on the fixed plate, and each of the clamping jaw assemblies is movably mounted on one of the track assemblies along the first direction; The adjusting transmission belt is connected to the two clamping jaw assemblies and is used for driving the two clamping jaw assemblies to move in relative directions or opposite directions.

8. The robot according to claim 1, wherein: The pan-tilt device includes a base plate, a lifting mechanism, a rotating mechanism and a rocking mechanism; The lifting mechanism is mounted on the base plate, the rotating mechanism is mounted on the lifting mechanism, the swing mechanism is mounted on the rotating mechanism, and the target device is mounted on the swing mechanism; The lifting mechanism, the rotating mechanism and the rocking mechanism cooperate to adjust the posture of the target device.

9. The robot according to claim 8, characterized in that The lifting mechanism includes a base frame, an X-shaped connecting rod assembly and a first driving assembly; The base frame and the substrate are spaced apart in a vertical direction of the substrate; The X-shaped connecting rod assembly includes a first connecting rod, a second connecting rod, a fixed support and a movable support; The first connecting rod and the second connecting rod are cross-connected through a connecting shaft; The first end of the first connecting rod is mounted on the base plate via the fixed support, and the second end of the first connecting rod is mounted on the base frame via the movable support so as to be movable along the horizontal direction of the base plate; The first end of the second connecting rod is mounted on the base plate by moving along the horizontal direction of the base plate through the movable support, and the second end of the second connecting rod is mounted on the base frame through the fixed support; The first driving assembly is disposed on the base plate, and the first driving assembly is connected to one of the movable supports, and is used to rotate the first connecting rod and the second connecting rod in opposite directions or in opposite directions; The rotating mechanism includes a first supporting shell, a rotating shaft seat, a rotating shaft and a second driving assembly; The first supporting shell is mounted on the lifting mechanism, the rotating shaft seat is provided on the first supporting shell, the first end of the rotating shaft is rotatably mounted in the rotating shaft seat, and the second end of the rotating shaft is connected to the rocking mechanism; The second driving assembly is connected to the rotating shaft and is used to drive the rotating shaft to rotate; The rocking mechanism includes a second supporting shell, a rocking support, a rotating shaft, a rocking bracket and a third driving assembly; The second supporting shell is mounted on the rotating mechanism, the swing support is mounted on the second supporting shell, one end of the rotating shaft is rotatably mounted on the swing support, and one end of the swing bracket is mounted on the rotating shaft; The third driving assembly is connected to the rotating shaft and is used to drive the rotating shaft to rotate.

10. The robot according to claim 1, characterized in that The robot also includes a silo device; The silo device is arranged on the middle cabinet and is used to place items; The robotic arm is used to control the clamping device to place the article in the silo device.

11. The robot according to claim 10, characterized in that The silo device includes a connecting frame and at least two silo mechanisms: At least two of the silo mechanisms are spaced apart along the second direction, and a connecting frame is provided between two adjacent silo mechanisms.

12. The robot according to claim 11, characterized in that The silo mechanism includes a support frame, a first fixed baffle, a first locking structure, a second fixed baffle and a second locking structure; The support frame is used to place items; The first fixed baffle is disposed on a first side of the support frame, and the first locking structure is movably disposed along a first direction at a position of the support frame corresponding to the first fixed baffle; The second fixed baffle is provided on the second side of the support frame, and the second locking structure is movably provided along the third direction at a position of the support frame corresponding to the second fixed baffle; The first side and the second side are two adjacent sides.

13. The robot according to claim 12, characterized in that The support frame includes a base plate, a support rod and a placement plate; The bottom plate and the placement plate are spaced apart along the second direction, the first end of the support rod is connected to the bottom plate, and the second end of the support rod is connected to the placement plate; The first fixed baffle is arranged on the bottom plate and located at a first side of the placement plate, and the placement plate is provided with a first movable groove arranged along a first direction; The first locking structure includes a first movable baffle and a first movable assembly; the first movable baffle is movably installed in the first movable groove and is arranged opposite to the first fixed baffle; The first moving assembly includes a first moving motor, a first support, a first screw and a first driving member; The first moving motor and the first support are spaced apart along a first direction, the first end of the first screw is connected to the output end of the first moving motor, the second end of the first screw is inserted into the first support, the first driving member is movably mounted on the first screw, and the first driving member is connected to the first moving baffle; The second fixed baffle is provided on the bottom plate and is located at the second side of the placement plate, and the placement plate is provided with a second movable groove arranged along the third direction; The second locking structure includes a second movable baffle and a second movable assembly; the second movable baffle is movably installed in the second movable groove and is arranged opposite to the second fixed baffle; The second moving assembly includes a second moving motor, a second support, a second screw and a second driving member; The second movable motor and the second support are spaced apart along the third direction, the second end of the second screw is connected to the output end of the second movable motor, the second end of the second screw is passed through the second support, the second driving member is movably mounted on the second screw, and the second driving member is connected to the second movable baffle.

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