robot

Abstract

The application provides a robot, wherein a control module is arranged in a middle-layer cabinet; a holder device is arranged on the middle-layer cabinet, and a target device is arranged on the holder device; the target device is used for collecting first sensing data and sending the first sensing data to the control module; a mechanical arm is arranged on the middle-layer cabinet, and the mechanical arm is connected with a clamping device; the control module is connected with the mechanical arm and the clamping device, and is used for controlling the mechanical arm to move to a target position of an article according to the first sensing data, and controlling the clamping device to clamp or not clamp the article. The target device, the mechanical arm and the clamping device cooperate to control the mechanical arm and the clamping device to work in real time, reduce error rates of the mechanical arm and the clamping device, and thus the accuracy and safety are better when the article is clamped and carried, and the risk of damage of the article is reduced.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a robot. Background Technology

[0002] A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. Through programming and automatic control, robots can perform tasks such as manual labor or movement. Robots typically use robotic arms to grip and move objects. However, existing robot arms have simple structures, resulting in poor accuracy and safety when gripping and moving valuable items or in restrictive working environments, posing a risk of damage. Summary of the Invention

[0003] This invention provides a robot to solve the problems of poor accuracy and safety in the gripping and handling of items by existing robots.

[0004] A robot includes a gripping device, a gimbal device, a robotic arm, and a middle cabinet;

[0005] The middle cabinet is equipped with a control module;

[0006] The gimbal device is mounted on the middle cabinet, and the gimbal device is equipped with a target device. The target device is used to collect first sensing data and send the first sensing data to the control module.

[0007] The robotic arm is mounted on the middle cabinet and is connected to the clamping device;

[0008] The control module is connected to the robotic arm and the gripping device, and is used to control the robotic arm to move to the target position where the item is located based on the first sensing data, and to control the gripping device to grip or not grip the item.

[0009] Preferably, the robotic arm is equipped with a monitor for collecting second sensing data and sending the second sensing data to the control module.

[0010] Preferably, the robotic arm includes a fixed base, a first adapter arm, a second adapter arm, a third adapter arm, a fourth adapter arm, a fifth adapter arm, and an adapter base;

[0011] The fixed base is mounted on the middle cabinet. One end of the first adapter arm is rotatably mounted on the fixed base around a first axis. One end of the second adapter arm is rotatably mounted on the first adapter arm around a second axis. The three ends of the third adapter arm are rotatably mounted on the second adapter arm around a second axis. One end of the fourth adapter arm is rotatably mounted on the third adapter arm around a fourth axis. One end of the fifth adapter arm is rotatably mounted on the fourth adapter arm around a fifth axis. One end of the adapter base is rotatably mounted on the fifth adapter arm around a sixth axis. The adapter base is connected to the clamping device.

[0012] Preferably, the robot further includes a mobile chassis;

[0013] The mobile chassis is installed at the bottom of the middle cabinet.

[0014] Preferably, the robot further includes a quick-change device for connecting the robotic arm and the gripping device.

[0015] Preferably, the clamping device includes a fixing plate, a clamping mechanism, a pressing mechanism, a first adjusting mechanism, and a second adjusting mechanism;

[0016] The clamping mechanism is movably mounted on the fixed plate along a first direction, and the pressing mechanism is movably mounted on the fixed plate along a second direction;

[0017] The first adjustment mechanism is disposed on the fixed plate and connected to the clamping mechanism, and is used to drive the clamping mechanism to move along the first direction so that the clamping mechanism clamps or releases the item.

[0018] The second adjustment mechanism is disposed on the fixed plate and connected to the pressing mechanism, and is used to drive the pressing mechanism to move in the second direction so that the pressing mechanism presses or does not press the item.

[0019] Preferably, the first adjustment mechanism includes a first adjustment motor, an adjustment drive wheel, an adjustment driven wheel, and an adjustment transmission belt;

[0020] The first adjusting motor is mounted on the fixed plate, the adjusting drive wheel is mounted on the output shaft of the first adjusting motor, and the adjusting driven wheel is rotatably mounted on the fixed plate. The adjusting driven wheel and the adjusting drive wheel are spaced apart along a first direction.

[0021] The adjusting transmission belt is fitted onto the adjusting drive wheel and the adjusting driven wheel;

[0022] The clamping mechanism includes two track assemblies and two gripper assemblies;

[0023] Two track assemblies are spaced apart on the fixed plate along a third direction, and each gripper assembly is movably mounted on one of the track assemblies along a first direction.

[0024] The adjusting transmission belt is connected to the two gripper assemblies and is used to drive the two gripper assemblies to move in opposite or opposite directions.

[0025] Preferably, the gimbal device includes a base plate, a lifting mechanism, a rotating mechanism, and a swinging mechanism;

[0026] The lifting mechanism is mounted on the base plate, the rotating mechanism is mounted on the lifting mechanism, the swinging mechanism is mounted on the rotating mechanism, and the target device is mounted on the swinging mechanism;

[0027] The lifting mechanism, the rotating mechanism, and the swinging mechanism work together to adjust the posture of the target device.

[0028] Preferably, the lifting mechanism includes a base frame, an X-shaped linkage assembly, and a first drive assembly;

[0029] The base frame and the substrate are spaced apart along the vertical direction of the substrate;

[0030] The X-shaped linkage assembly includes a first link, a second link, a fixed support, and a movable support;

[0031] The first link and the second link are connected crosswise via a connecting shaft;

[0032] The first end of the first connecting rod is mounted on the base plate via a fixed support, and the second end of the first connecting rod is mounted on the base frame via a movable support that moves along the horizontal direction of the base plate.

[0033] The first end of the second connecting rod is mounted on the substrate in the horizontal direction of the substrate via a movable support, and the second end of the second connecting rod is mounted on the base frame via a fixed support.

[0034] The first driving component is disposed on the substrate and is connected to a movable support, for causing the first connecting rod and the second connecting rod to rotate in opposite directions or in opposite directions;

[0035] The rotating mechanism includes a first support shell, a rotating shaft seat, a rotating shaft, and a second drive assembly;

[0036] The first support shell is mounted on the lifting mechanism, the rotating shaft seat is disposed on the first support 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 swing mechanism;

[0037] The second drive component is connected to the rotating shaft and is used to drive the rotating shaft to rotate;

[0038] The swing mechanism includes a second support shell, a swing support, a rotating shaft, a swing bracket, and a third drive assembly;

[0039] The second support shell is mounted on the rotating mechanism, the rocker support is mounted on the second support shell, one end of the rotating shaft is rotatably mounted on the rocker support, and one end of the rocker bracket is mounted on the rotating shaft;

[0040] The third drive component is connected to the rotating shaft and is used to drive the rotating shaft to rotate.

[0041] Preferably, the robot further includes a hopper device;

[0042] The hopper device is installed on the middle cabinet and is used to store items;

[0043] The robotic arm is used to control the gripping device to place the item into the hopper device.

[0044] Preferably, the hopper device includes a connecting frame and at least two hopper mechanisms:

[0045] At least two of the hopper mechanisms are spaced apart along a second direction, and a connecting frame is provided between two adjacent hopper mechanisms.

[0046] Preferably, the hopper mechanism includes a support frame, a first fixed baffle, a first locking structure, a second fixed baffle, and a second locking structure;

[0047] The support frame is used to place items;

[0048] The first fixed baffle is disposed on the first side of the support frame, and the first locking structure is movably disposed along the first direction at the position of the support frame corresponding to the first fixed baffle.

[0049] The second fixed baffle is disposed on the second side of the support frame, and the second locking structure is movably disposed in the third direction at the position corresponding to the second fixed baffle on the support frame;

[0050] The first side and the second side are two adjacent sides.

[0051] Preferably, the support frame includes a base plate, support rods, and a placement plate;

[0052] The base plate and the placement plate are spaced apart along the second direction, and the first end of the support rod is connected to the base plate and the second end of the support rod is connected to the placement plate.

[0053] The first fixed baffle is disposed on the base plate and located on the first side of the placement plate. The placement plate is provided with a first movable groove arranged along the first direction.

[0054] The first locking structure includes a first movable baffle and a first movable component; the first movable baffle is movably installed in the first movable slot and is disposed opposite to the first fixed baffle;

[0055] The first moving component includes a first moving motor, a first support, a first screw, and a first driving component;

[0056] The first movable motor and the first support are spaced apart along the first direction. The first end of the first screw is connected to the output end of the first movable motor. The second end of the first screw passes through the first support. The first driving member is movably mounted on the first screw and is connected to the first movable baffle.

[0057] The second fixed baffle is disposed on the base plate and located on the second side of the placement plate. The placement plate is provided with a second moving groove arranged in a third direction.

[0058] The second locking structure includes a second movable baffle and a second movable component; the second movable baffle is movably installed in the second movable slot and is disposed opposite to the second fixed baffle;

[0059] The second moving component includes a second moving motor, a second support, a second screw, and a second driving element;

[0060] The second movable motor and the second support are spaced apart along a 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 passes through the second support. The second driving member is movably mounted on the second screw and is connected to the second movable baffle.

[0061] The robot provided in this embodiment of the invention has a robotic arm installed in a middle cabinet. The robotic arm is connected to a gripping device, and the robotic arm can adjust the position of the gripping device according to actual needs. The control module is connected to the robotic arm and the gripping device. When it is necessary to grip and move an item, 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. Based on the sensing data, it can first control the robotic arm to move to the target position where the item is located, and then control the gripping device to grip or not grip the item. Through the cooperation of the target device, the robotic arm, and the gripping device, the operation of the robotic arm and the gripping device can be controlled in real time, reducing the error rate of the robotic arm and the gripping device. This results in better accuracy and safety when gripping and moving items, and reduces the risk of damage to the items. Attached Figure Description

[0062] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0063] Figure 1 This is a first axonometric view of the robot in one embodiment of the present invention;

[0064] Figure 2 This is a second axonometric view of the robot in one embodiment of the present invention;

[0065] Figure 3 This is an isometric view of a robotic arm according to one embodiment of the present invention;

[0066] Figure 4 This is an isometric view of the clamping device in one embodiment of the present invention;

[0067] Figure 5 This is a partial structural diagram of the clamping device in one embodiment of the present invention;

[0068] Figure 6 This is a first axonometric view of the hopper mechanism in one embodiment of the present invention;

[0069] Figure 7 This is a second axonometric view of the hopper mechanism in one embodiment of the present invention;

[0070] Figure 8 This is a partial structural diagram of the silo mechanism in one embodiment of the present invention;

[0071] Figure 9 This is an axonometric view of a silo device according to an embodiment of the present invention;

[0072] Figure 10 This is an axonometric view of a gimbal device according to an embodiment of the present invention;

[0073] Figure 11 This is a cross-sectional view of a gimbal device according to an embodiment of the present invention;

[0074] Figure 12 This is a perspective view of a gimbal device according to an embodiment of the present invention;

[0075] Figure 13 This is an isometric view of the rotating mechanism and the rocking mechanism in one embodiment of the present invention;

[0076] Figure 14 This is an isometric view of the rocking mechanism in one embodiment of the present invention.

[0077] Among them, 10. Clamping device; 11. Fixing plate; 12. Clamping mechanism; 121. Track assembly; 1211. Guide track; 1212. Guide slider; 122. Gripper assembly; 1221. Support member; 1222. Gripper body; 12221. Clamping plate; 12222. Support plate; 12223. Clearance 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 adjustment mechanism; 141. First adjustment motor; 142. Adjustment drive wheel; 143. Adjustment driven wheel; 144. Adjustment transmission belt; 15. Second adjustment mechanism; 151. Second adjustment motor; 152. Telescopic column; 16. Monitoring camera; 17. Rangefinder;

[0078] 20. Hopper device; 21. Connecting frame; 211. Support arm; 212. Reinforcing arm; 22. Hopper mechanism; 221. Support frame; 2211. Base 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 component; 22321. First moving motor; 22322. First support; 22323. First screw; 22324. First driving component; 2233. First guide rail assembly; 22331. 1. Guide rail; 22332. First slider; 2234. First limit switch; 2235. First sensing element; 224. Second fixed baffle; 225. Second locking structure; 2251. Second moving baffle; 2252. Second moving assembly; 22521. Second moving motor; 22522. Second support; 22523. Second screw; 22524. Second driving component; 2253. Second guide rail assembly; 22531. Second guide rail; 22532. Second slider; 2254. Second limit switch; 2255. Second sensing element; 226. First detection element; 227. Second detection element;

[0079] 30. Gimbal device; 31. Base plate; 32. Lifting mechanism; 321. Base frame; 322. X-shaped linkage assembly; 3221. First linkage; 3222. Second linkage; 3223. Fixed support; 3224. Movable support; 323. First drive assembly; 3231. Drive motor; 3232. Lead screw seat; 3233. Lead screw; 3234. Drive block; 324. First trigger switch; 325. First sensor; 326. Guide assembly; 3261. Guide slide rail; 3262. Guide block; 33. Rotation mechanism; 331. First support shell; 332. Rotation shaft seat; 333. Rotation shaft 334. Second drive assembly; 3341. Rotary motor; 3342. First drive wheel; 3343. First driven wheel; 3344. First conveyor belt; 335. Second trigger switch; 336. Second sensor; 34. Swing mechanism; 341. Second support shell; 342. Swing support; 343. Rotating shaft; 344. Swing bracket; 345. Third drive assembly; 3451. Swing motor; 3452. Second drive wheel; 3453. Second driven wheel; 3454. Second conveyor belt; 346. Third trigger switch; 347. Third sensor; 348. Limiting plate; 349. Movable groove;

[0080] 40. Target device;

[0081] 50. Robotic arm; 51. Fixed base; 52. First adapter arm; 53. Second adapter arm; 54. Third adapter arm; 55. Fourth adapter arm; 56. Fifth adapter arm; 57. Adapter base;

[0082] 60. Mid-level cabinet;

[0083] 70. Quick-change device;

[0084] 80. Monitor;

[0085] 90. Mobile chassis. Detailed Implementation

[0086] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0087] In the description of this application, it should be understood that the terms "longitudinal," "radial," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used 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, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0088] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0089] This invention provides a robot, with reference to... Figure 1 and Figure 2 The robot includes a gripping device 10, a gimbal device 30, a robotic arm 50, and a middle cabinet 60. A control module is located inside the middle cabinet 60. The gimbal device 30 is mounted on the middle cabinet 60 and has a target device 40 mounted on it. The target device 40 collects first sensing data and sends the first sensing data to the control module. The robotic arm 50 is mounted on the middle cabinet 60 and connected to the gripping device 10. The control module is connected to the robotic arm 50 and the gripping device 10, and is used to control the robotic arm 50 to move to the target location of the object based on the first sensing data, and to control the gripping device 10 to grip or not grip the object.

[0090] As an example, the robot includes a gripping device 10, a gimbal device 30, a robotic arm 50, and a middle cabinet 60. The gripping device 10 can grip objects. The robotic arm 50 has multiple degrees of freedom, allowing adjustment of the devices mounted on it according to commands. The middle cabinet 60 houses a control module and 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 gimbal device 30 is mounted on the middle cabinet 60, and a target device 40 is mounted on it. The gimbal device 30 allows adjustment of the target device 40's posture, enabling it to be positioned at a suitable observation location for detailed target information. The target device 40 collects first sensing data and sends it to the control module, providing the robotic arm 50 and gripping device 10 with RGB and point cloud information from a third-person perspective outside the robotic arm. This allows the device to continuously monitor the position of the object and the gripping device 10, thereby achieving more precise and safer gripping and handling of the object. In addition, the gimbal 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 collision damage.

[0091] In this example, the robotic arm 50 is positioned in the middle cabinet 60 and connected to the gripping device 10. The robotic arm 50 can adjust the position of the gripping device 10 according to actual needs. The control module is connected to the robotic arm 50 and the gripping device 10. When it is necessary to grip and move an item, the target device 40 collects the first sensing data and sends it to the control module. The control module in the middle cabinet 60 can issue instructions according to actual needs. Based on the sensing data, it can first control the robotic arm 50 to move to the target position where the item is located, and then control the gripping device 10 to grip or not grip the item. Through the cooperation of the target device 40, the robotic arm 50, and the gripping device 10, the operation of the robotic arm 50 and the gripping device 10 can be controlled in real time, reducing the error rate of the robotic arm 50 and the gripping device 10. This results in better accuracy and safety when gripping and moving items, and reduces the risk of damage to the items. 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 handling of items (such as moving items from the middle cabinet 60 to other equipment, or from other equipment to the middle cabinet 60); it can also adjust the position of the clamping device 10 to ensure that the clamping device 10 can accurately clamp the item.

[0092] In one embodiment, reference is made to Figure 1 and Figure 2 The robotic arm 50 is equipped with a monitor 80, which is used to collect second sensing data and send the second sensing data to the control module.

[0093] As an example, the robotic arm 50 is equipped with a monitor 80, which can collect second sensing data and send the second sensing data to the control module to provide the robotic arm 50 with RGB and point cloud information from the first perspective inside the robotic arm. This allows the device to observe the position information of the item and the gripping device 10 at any time, thereby achieving more stable and safe gripping and handling of the item.

[0094] In this example, the target device 40 provides the robotic arm 50 with RGB and point cloud information from a third-person perspective outside the robotic arm, while the monitor 80 provides the robotic arm 50 with RGB and point cloud information from a first-person perspective inside the robotic arm. The combination of the two enables faster and more accurate observation of the position information of the object and the clamping device 10 at any time, thereby achieving more stable and safer clamping and handling of the object.

[0095] In one embodiment, reference is made to Figure 1 , Figure 2 and Figure 3 The robotic arm 50 includes a fixed base 51, a first adapter arm 52, a second adapter arm 53, a third adapter arm 54, a fourth adapter arm 55, a fifth adapter arm 56, and an adapter seat 57. The fixed base 51 is mounted on the middle cabinet 60. One end of the first adapter arm 52 is rotatably mounted on the fixed base 51 around a first axis. One end of the second adapter arm 53 is rotatably mounted on the first adapter arm 52 around a second axis. The three ends of the third adapter arm 54 are rotatably mounted on the second adapter arm 53 around a second axis. One end of the fourth adapter arm 55 is rotatably mounted on the third adapter arm 54 around a fourth axis. One end of the fifth adapter arm 56 is rotatably mounted on the fourth adapter arm 55 around a fifth axis. One end of the adapter seat 57 is rotatably mounted on the fifth adapter arm 56 around a sixth axis. The adapter seat 57 is connected to the clamping device 10.

[0096] As an example, the robotic arm 50 includes a fixed base 51, a first adapter arm 52, a second adapter arm 53, a third adapter arm 54, a fourth adapter arm 55, a fifth adapter arm 56, and an adapter base 57. During installation, the fixed base 51 is mounted on the middle cabinet 60 using a screw-in, welding, or snap-fit ​​method. One end of the first adapter arm 52 is rotatably mounted on the fixed base 51 around a first axis. One end of the second adapter arm 53 is rotatably mounted on the first adapter arm 52 around a second axis. All three ends of the third adapter arm 54 are rotatably mounted on the second adapter arm 53 around a second axis. One end of the fourth adapter arm 55 is rotatably mounted on the fourth axis. The first adapter arm 52, the second adapter arm 53, the third adapter arm 54, the fourth adapter arm 55, and the fifth adapter arm 56 are rotatably mounted on the third adapter arm 54. One end of the fifth adapter arm 56 is rotatably mounted on the fourth adapter arm 55 around the fifth axis. The adapter seat 57 is connected to the clamping device 10. This configuration, with the fixed seat 51, the first adapter arm 52, the second adapter arm 53, the third adapter arm 54, the fourth adapter arm 55, the fifth adapter arm 56, and the adapter seat 57 working together, forms a six-axis robotic arm with six degrees of freedom. This allows for multi-angle and multi-directional adjustment of the position of the clamping device 10 to facilitate the handling of items. Furthermore, an inductive safety electronic skin is added to the outer surface of the robotic arm 50. When the robotic arm 50 approaches an item within a certain distance (e.g., set to 100mm), an emergency stop is triggered, improving safety during use.

[0097] In one embodiment, reference is made 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.

[0098] 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. This configuration allows the mobile chassis 90 to facilitate the movement of the entire device to the designated work location. When the mobile chassis 90 is moving, it uses the AGV's laser radar and 3D vision to automatically avoid and bypass obstacles. When the mobile chassis 90 stops working, it uses the AGV's radar and 3D vision information to delineate a certain safety zone. The robot pauses its work when a person approaches within a certain distance and resumes working after the person leaves.

[0099] In one embodiment, reference is made 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 gripping device 10.

[0100] 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 gripping device 10, which ensures that the gripping device 10 is securely and stably installed on the robotic arm 50, and also provides convenience for the installation and removal of the gripping device 10.

[0101] In one embodiment, reference is made 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 disposed on the fixed plate 11 and 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 item. The second adjusting mechanism 15 is disposed on the fixed plate 11 and 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 does not press the item.

[0102] The first direction and the second direction are two mutually perpendicular directions. The first direction is the length direction of the clamping device 10, which is the length direction of the robot, and the second direction is the height direction of the clamping device 10, which is the height direction of the robot.

[0103] 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-shaped structure that serves as a mounting 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 via a quick-change device 70 to enable the clamping device 10 to be installed on the industrial robot or automated equipment, thus facilitating the use of the clamping device 10 by the robot. During installation, 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. A first adjusting mechanism 14 is mounted on the fixed plate 11 and connected to the clamping mechanism 12, which can move the clamping mechanism 12 along the first direction to clamp or release the item. A second adjusting mechanism 15 is mounted on the fixed plate 11 and connected to the pressing mechanism 13, which can move the pressing mechanism 13 along the second direction to press or depress the item. With this configuration, when an item needs to be clamped, the clamping mechanism 12 is first controlled by the first adjusting mechanism 14 to clamp the item. 2. Move along the first direction towards the object to clamp the object; then, control the pressing mechanism 13 through the second adjusting mechanism 15 to move the pressing mechanism 13 along the second direction towards the object to press the object and limit its movement; when the object is no longer clamped, first control the pressing mechanism 13 through the second adjusting mechanism 15 to move the pressing mechanism 13 along the second direction away from the object to de-press the object; then control the clamping mechanism 12 through the first adjusting mechanism 14 to move the clamping mechanism 12 along the first direction away from the object to release the object.

[0104] In this example, the clamping mechanism 12 and the pressing mechanism 13 work together to form a clamping space for holding the item. The operation of the clamping mechanism 12 and the pressing mechanism 13 can be precisely controlled by the first adjusting mechanism 14 and the second adjusting mechanism 15, so that the item can be clamped from two directions, ensuring that the clamping of the item is more stable and reliable. This improves the accuracy and stability of the clamping device 10 in clamping the item, avoids damage to the item, and meets the usage 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 accommodate items of different sizes (e.g., it can be compatible with trays for holding different materials, such as aluminum profiles and plastic trays, and can be compatible with different models of trays for holding materials, with a length range of 250mm-420mm, a width range of 180mm-335mm, and a thickness range of 3mm-25mm), thus improving the applicability of the clamping device 10.

[0105] In one embodiment, reference is made to Figure 5The first adjustment mechanism 14 includes a first adjustment motor 141, an adjustment drive wheel 142, an adjustment driven wheel 143, and an adjustment transmission belt 144. The first adjustment motor 141 is mounted on the fixed plate 11, the adjustment drive wheel 142 is mounted on the output shaft of the first adjustment motor 141, and the adjustment driven wheel 143 is rotatably mounted on the fixed plate 11. The adjustment driven wheel 143 and the adjustment drive wheel 142 are spaced apart along a first direction. The adjustment transmission belt 144 is fitted onto the adjustment drive wheel 142 and the adjustment driven wheel 143. The clamping mechanism 12 includes two track assemblies 121 and two gripper assemblies 122. The two track assemblies 121 are spaced apart along a third direction on the fixed plate 11, and each gripper assembly 122 is movably mounted on a track assembly 121 along a first direction. The adjustment transmission belt 144 is connected to the two gripper assemblies 122 and is used to drive the two gripper assemblies 122 to move in opposite or relative directions.

[0106] Among them, the third direction is the direction perpendicular to the first direction and the second direction, and the third direction is the width direction of the clamping device 10, that is, the width direction of the robot.

[0107] As an example, the first adjusting motor 141 drives the adjusting drive wheel 142 to rotate clockwise or counterclockwise, which in turn drives the adjusting driven wheel 143 and the adjusting transmission belt 144 to rotate, thereby driving the two gripper assemblies 122 to move in opposite directions on the two track assemblies 121, thereby adjusting the distance between the two gripper assemblies 122 to clamp or release items of different sizes, thus improving the applicability and working efficiency of the clamping mechanism 12.

[0108] In one embodiment, reference is made to Figure 5 The track assembly 121 includes a guide track 1211 and a guide slider 1212. During installation, the guide track 1211 is set on the fixed plate 11 along the first direction, and the guide slider 1212 is set on the gripper assembly 122. The guide slider 1212 is movably installed on the guide track 1211 to provide guidance and limit for the movement of the gripper assembly 122, and to facilitate the adjustment of the position of the gripper assembly 122 to meet the clamping of items of different sizes.

[0109] In one example, the guide rail 1211 is arranged on the gripper assembly 122 along a first direction, and the guide slider 1212 is arranged on the fixed plate 11. The guide slider 1212 is movably mounted on the guide rail 1211, which can also achieve the above function.

[0110] In one embodiment, reference is made to Figure 4 and Figure 5The gripper assembly 122 includes a support member 1221 and a gripper body 1222. The support member 1221 is a long strip-shaped plate structure. During installation, the support member 1221 is installed on the track assembly 121, and the transmission belt 144 is connected to the first end of the support member 1221. The gripper body 1222 is installed on the second end of the support member 1221. With this configuration, the support member 1221 can be moved on the track assembly 121 by adjusting the transmission belt 144, thereby adjusting the position of the gripper body 1222 to achieve gripping of the item by the gripper body 1222. In the two gripper assemblies 122, the length of the support member 1221 of one gripper assembly 122 is greater than the length of the support member 1221 of the other gripper assembly 122. The gripper bodies 1222 of the two gripper assemblies 122 are arranged opposite to each other along a first direction. Thus, the space between the two gripper bodies 1222 is a space for clamping items. By adjusting the transmission belt 144, the two support members 1221 can be driven to move simultaneously along opposite or opposite directions on the two track assemblies 121, thereby adjusting the distance between the two gripper bodies 1222 to clamp or release items of different sizes, thus improving the applicability and working efficiency of the clamping mechanism 12.

[0111] In one embodiment, reference is made to Figure 5 The gripper 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 opposite each other along a first direction, so that a space for clamping the item is formed between the two clamping plates 12221. By adjusting the transmission belt 144, the support member 1221 is moved on the track assembly 121, thereby moving the clamping plates 12221 to clamp the item. 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 limiting support for the item, enhancing the stability and safety of the clamping mechanism 12 in clamping the item.

[0112] In one embodiment, reference is made to Figure 5 The second adjustment mechanism 15 includes a second adjustment motor 151 and a telescopic column 152. During installation, the second adjustment motor 151 is mounted on the fixed plate 11, the first end of the telescopic column 152 is connected to the second adjustment motor 151, and the second end of the telescopic column 152 is connected to the pressing mechanism 13. With this configuration, the second adjustment 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 pressing or not pressing the item.

[0113] In one embodiment, reference is made 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 a 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 provides guidance and 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 positioned opposite to the location of the item. The second end of the telescopic column 152 is connected to the support plate 132. With this configuration, the second adjusting 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, controlling the support plate 132 to press down or rise, thus enabling the elastic pressure plate 133 to press or not press the item. At the same time, the connecting assembly 131 provides guidance and limits for adjusting the position of the support plate 132. The elastic pressure plate 133 is an elastic structure with a cushioning function, which can prevent damage to the item from hard contact. Additionally, at least one clamping plate 12221 has a clearance space 12223 for accommodating the pressing mechanism 13. The support plate 132 includes a main body 1321 and a support portion 1322 extending from one side 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 via a connecting assembly 131 and is connected to the second end of the telescopic column 152 of the second adjusting mechanism 15. The support portion 1322 passes through the clearance space 12223 of one clamping plate 12221, and the elastic pressure plate 133 is mounted on the support plate 1322. The end of the support 1322 away from the main body 1321 is located in the clamping space and is positioned opposite to the location of the item. With this configuration, the first adjustment mechanism 14 first controls the two gripper assemblies 122 to move along the first direction to clamp the item, 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 item. This achieves clamping of the item from two directions, ensuring more stable and reliable clamping of the item, improving the accuracy and stability of the clamping device 10 in clamping the item, avoiding damage to the item, and meeting the usage requirements.

[0114] In one embodiment, reference is made to Figure 4 and Figure 5 The connecting assembly 131 includes a connecting post 1311 and a connecting seat 1312. During installation, the connecting post 1311 is installed on the support plate 132 along the second direction, and the connecting seat 1312 is installed on the fixing plate 11 along the second direction. The connecting post 1311 passes through the connecting seat 1312. With this configuration, when the second adjusting mechanism 15 drives the support plate 132 to move along the second direction, the connecting post 1311 and the connecting seat 1312 can cooperate to provide guidance and limit for adjusting the position of the support plate 132, thereby ensuring that the elastic pressure plate 133 can accurately press or not press the item.

[0115] In one example, the connecting post 1311 is mounted on the fixing plate 11 along the second direction, and the connecting seat 1312 is mounted on the support plate 132 along the second direction. The connecting post 1311 passes through the connecting seat 1312, which can also achieve the above function.

[0116] In one embodiment, reference is made 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 placed on the clamping mechanism 12 to collect the size information of the object. The rangefinder 17 is placed on the pressing mechanism 13 to collect the distance information between the pressing mechanism 13 and the object. The controller is connected to the monitoring camera 16, the rangefinder 17, the first adjustment mechanism 14, and the second adjustment mechanism 15, respectively. It can control the operation of the clamping mechanism 12 according to the size information collected by the monitoring camera 16 and control the operation of the pressing mechanism 13 according to the distance information collected by the rangefinder 17. This can ensure the accuracy and safety of the clamping device 10 in clamping the object. When an item needs to be clamped, the controller first controls the first adjustment mechanism 14 to drive the clamping mechanism 12 to work based on the size information collected by the monitoring camera 16, so that the clamping mechanism 12 moves towards the item in the first direction to clamp the item; then the controller controls the second adjustment mechanism 15 to drive the pressing mechanism 13 to work based on the distance information collected by the rangefinder 17, so that the pressing mechanism 13 moves towards the item in the second direction to press the item and limit its movement; when an item does not need to be clamped, the controller first controls the second adjustment mechanism 15 to drive the pressing mechanism 13 to work based on the distance information collected by the rangefinder 17, so that the pressing mechanism 13 moves away from the item in the second direction to depress the item; then the controller controls the first adjustment mechanism 14 to drive the clamping mechanism 12 to work based on the size information collected by the monitoring camera 16, so that the clamping mechanism 12 moves away from the item in the first direction to release the item.

[0117] In one embodiment, reference is made to Figure 10 The gimbal device 30 includes a base plate 31, a lifting mechanism 32, a rotating mechanism 33, and a swinging mechanism 34. The lifting mechanism 32 is mounted on the base plate 31, the rotating mechanism 33 is mounted on the lifting mechanism 32, the swinging mechanism 34 is mounted on the rotating mechanism 33, and the target device 40 is mounted on the swinging mechanism 34. The lifting mechanism 32, the rotating mechanism 33, and the swinging mechanism 34 cooperate to adjust the posture of the target device 40.

[0118] As an example, the gimbal device 30 is used to support the target device 40, such as a 3D camera. The gimbal device 30 adjusts the attitude of the 3D camera to position it in a suitable observation location, allowing for the observation of detailed target information, providing RGB and point cloud information for the large model, and enabling continuous perception of external conditions. The gimbal device 30 specifically includes a base plate 31, a lifting mechanism 32, a rotating mechanism 33, and a swing mechanism 34. During installation, the base plate 31 serves as the mounting reference, providing support for other components of the gimbal device 30. The base plate 31 can be installed on industrial robots or automated equipment using screw connections, snap-fit ​​connections, or welding methods, enabling the gimbal device 30 to be mounted on industrial robots or automated equipment. The lifting mechanism 32 is mounted on the substrate 31, and the lifting mechanism 32 can lift and lower along the height direction of the substrate 31 (i.e., the height direction of the robot, which is the second direction); the rotating mechanism 33 is mounted on the lifting mechanism 32, and the rotating mechanism 33 can rotate around the height direction of the substrate 31 (i.e., the height direction of the robot); the swinging mechanism 34 is mounted on the rotating mechanism 33, and the swinging mechanism 34 can swing around the direction perpendicular to the height direction of the substrate 31 (i.e., the length or width direction of the substrate 31, or the length or width direction of the robot, which is the first direction or the third direction).

[0119] In this example, the target device 40 is mounted on the swing mechanism 34. The swing mechanism 34 can drive the target device 40 to swing around a direction perpendicular to the height of the substrate 31. The rotation mechanism 33 can drive the swing mechanism 34 and the target device 40 to rotate around the height of the substrate 31. The lifting mechanism 32 can drive the rotation mechanism 33, the swing mechanism 34, and the target device 40 to rise and fall along the height of the substrate 31. By coordinating the lifting mechanism 32, the rotation mechanism 33, and the swing mechanism 34, the target device 40 can be adjusted from multiple angles and directions, allowing the target device 40 to be positioned in a suitable observation location to observe detailed target information. This increases the movement options of the gimbal device 30 and meets the adjustment requirements of multiple angles and directions. For example, the gimbal device 30 is used in large models such as robots. When the target device 40 is a 3D camera, the gimbal device 30 can flexibly adjust the visual angle of the 3D camera to adapt to the actual application scenario and provide a suitable perspective for the large model.

[0120] In one embodiment, reference is made to Figure 10 , Figure 11 , Figure 12 , Figure 13 and Figure 14The lifting mechanism 32 includes a base frame 321, an X-shaped linkage assembly 322, and a first drive assembly 323; the base frame 321 and the base plate 31 are spaced apart along the vertical direction of the base plate 31; the X-shaped linkage assembly 322 includes a first link 3221, a second link 3222, a fixed support 3223, and a movable support 3224; the first link 3221 and the second link 3222 are connected crosswise by a connecting shaft; the first end of the first link 3221 is mounted on the base plate 31 through a fixed support 3223, and the second link 3222 is mounted on the base plate 31 through a fixed support 3223. The second end of a first connecting rod 3221 is mounted on a base frame 321 via a movable support 3224, moving horizontally along the base plate 31. The first end of a second connecting rod 3222 is mounted on a base plate 31 via a movable support 3224, moving horizontally along the base plate 31. The second end of the second connecting rod 3222 is mounted on the base frame 321 via a fixed support 3223. A first driving assembly 323 is connected to a movable support 3224 to drive the first connecting rod 3221 and the second connecting rod 3222 in opposite directions. The rotating mechanism 33 includes a first support shell 331, a rotating shaft seat 332, a rotating shaft 333, and a second drive assembly 334. The first support shell 331 is mounted on the lifting mechanism 32, the rotating shaft seat 332 is disposed on the first support 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 rocking mechanism 34. The second drive assembly 334 is connected to the rotating shaft 333 and is used to drive the rotating shaft 333 to rotate. The rocking mechanism 34 includes a second support shell 341, a rocking support 342, a rotating shaft 343, a rocking bracket 344, and a third drive assembly 345. The second support shell 341 is mounted on the rotating mechanism 33, the rocking support 342 is mounted on the second support shell 341, one end of the rotating shaft 343 is rotatably mounted on the rocking support 342, and one end of the rocking bracket 344 is mounted on the rotating shaft 343. The third drive assembly 345 is connected to the rotating shaft 343 and is used to drive the rotating shaft 343 to rotate.

[0121] As an example, the first link 3221 and the second link 3222 are connected by a connecting shaft. The first link 3221 and the second link 3222 rotate around the connecting shaft in opposite directions 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 via a fixed support 3223. The second end of the first link 3221 is mounted on the base frame 321 via a movable support 3224 along the horizontal direction of the base plate 31. The first end of the second link 3222 is mounted on the base plate 31 via a movable support 3224 along the horizontal direction of the base plate 31. The second end of the second link 3222 is mounted on the base frame 321 via a fixed support 3223. The first drive assembly 323 is connected to the movable support 3224. By driving the movable support 3224 to move through the first drive assembly 323, the first link 3221 and the second link 3222 can rotate in opposite directions or in the opposite direction to adjust the support height of the X-shaped link assembly 322. This allows the base frame 321 and the rotating mechanism 33, the swing mechanism 34 and the target device 40 mounted on the base frame 321 to be raised and lowered along the height direction of the base plate 31, i.e., the height direction of the robot, so as to adjust the target device 40 to a suitable observation height. The second drive assembly 334 can drive the rotation shaft 333 to rotate, thereby causing the swing mechanism 34 and the target device 40 to rotate around the axis of the rotation shaft 333 (i.e., the height direction of the substrate 31), so as to make the target device 40 face a suitable observation position and observe detailed target information. The third drive assembly 345 can drive the rotation shaft 343 to rotate, thereby causing the target device 40 to swing around the axis of the rotation shaft 343 (i.e., the height direction perpendicular to the substrate 31), so as to adjust the pitch angle of the target device 40, making the target device 40 face a suitable observation position and observe detailed target information.

[0122] In one embodiment, reference is made to Figure 12 The lifting mechanism 32 also includes two first trigger switches 324 and a first sensor 325. During installation, the two first trigger switches 324 are spaced apart along the horizontal direction of the substrate 31 on the substrate 31 or the base frame 321, and are both connected to the first drive assembly 323. One first trigger switch 324 serves as a start switch, and the other first trigger switch 324 serves as a stop switch. The first sensor 325 is disposed on a movable support 3224. The first drive assembly 323 drives the movable support 3224 to move, so that the first sensor 325 sequentially senses or contacts the two first trigger switches 324 and can output a sensing signal to determine its position. This limits the working stroke of the movable support 3224, thereby limiting the working time of the first drive assembly 323 and thus limiting the lifting stroke of the lifting mechanism 32.

[0123] In one embodiment, reference is made to Figure 11The first drive assembly 323 includes a drive motor 3231, a lead screw holder 3232, a lead screw 3233, and a drive block 3234. During installation, the drive motor 3231 and the lead screw holder 3232 are spaced apart along the horizontal direction of the base plate 31. The first end of the lead screw 3233 is connected to the output end of the drive motor 3231, and the second end of the lead screw 3233 passes through the lead screw holder 3232. The drive block 3234 is movably mounted on the lead screw 3233 and is connected to a movable support 3224 of the X-shaped connecting rod assembly 322 via a connector. With this configuration, the drive motor 3231 rotates forward or backward. It can drive the lead screw 3233 to rotate forward or reverse, causing the drive block 3234 to move on the lead screw 3233, thereby driving the movable support 3224 to move along 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, thereby adjusting the support height of the X-shaped link assembly 322, thereby driving the base frame 321 and the rotating mechanism 33, the swing 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, i.e., the height direction of the robot, so as to adjust the target device 40 to a suitable observation height.

[0124] In one embodiment, reference is made 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 mounted on the base plate 31, and the other is mounted on the X-shaped linkage assembly 322, and the guide block 3262 is movably mounted on the guide rail 3261; with this configuration, when the support height of the X-shaped linkage assembly 322 is adjusted, and the first drive assembly 323 drives the movable support 3224 to move, the guide block 3262, which is movably mounted on the guide rail 3261, can provide guidance and limit for the movement of the movable support 3224, preventing misalignment or displacement of the movable support 3224 during movement, thereby enabling smoother adjustment of the support height of the X-shaped linkage assembly 322 and ensuring the stability of the lifting mechanism 32. There are two guide components 326, each corresponding to an X-shaped linkage assembly 322. The two guide components 326 provide guidance and limit for the two X-shaped linkage assemblies 322, further improving the stability of the lifting mechanism 32 and providing a safety guarantee for adjusting the height of the target device 40.

[0125] In one embodiment, reference is made to Figure 11 , Figure 12 and Figure 13The second drive assembly 334 includes a rotary motor 3341, a first drive wheel 3342, a first driven wheel 3343, and a first conveyor belt 3344. During installation, the rotary motor 3341 and the rotary shaft seat 332 are spaced apart along the horizontal direction of the substrate 31. The first drive wheel 3342 is mounted on the output shaft of the rotary motor 3341, the first driven wheel 3343 is mounted on the rotary shaft 333, and the first conveyor belt 3344 is fitted onto the first drive wheel 3342 and the first driven wheel 3343. With this configuration, the rotary motor 3341 rotates clockwise or counterclockwise, driving the first drive wheel 3342 to rotate clockwise or counterclockwise. The first conveyor belt 3344 can drive the first driven wheel 3343 to rotate clockwise or counterclockwise, thereby driving the rotary shaft 333 to rotate clockwise or counterclockwise. This enables the swing mechanism 34 and the target device 40 to rotate around the axis of the rotary shaft 333 (i.e., the height direction of the substrate 31), so that the target device 40 is oriented towards a suitable observation position to observe detailed target information.

[0126] In one embodiment, reference is made to Figure 12 and Figure 13 The rotating mechanism 33 also includes a second trigger switch 335 and a second sensor 336. During installation, the second trigger switch 335 is mounted on the first support housing 331 and connected to the rotary motor 3341, and the second sensor 336 is mounted on the rocking mechanism 34. With this configuration, when the second drive assembly 334 drives the rotating shaft 333 to rotate clockwise or counterclockwise, it can drive the rocking mechanism 34 and the target device 40 to rotate around the axis of the rotating shaft 333, so as to drive the second sensor 336 to sense or contact the second trigger switch 335, and output a sensing signal to determine its position, thereby controlling the rotation stroke of the rotating mechanism 33.

[0127] In one embodiment, reference is made to Figure 11 The third drive assembly 345 includes a rocking motor 3451, a second driving wheel 3452, a second driven wheel 3453, and a second conveyor belt 3454. During installation, the rocking motor 3451 and the rocking support 342 are spaced apart along the horizontal direction of the base plate 31. The second driving wheel 3452 is mounted on the output shaft of the rocking motor 3451, the second driven wheel 3453 is mounted on the rotating shaft 343, and the second conveyor belt 3454 is fitted onto the second driving wheel 3452 and the second driven wheel 3453. The swing motor 3451 rotates forward or backward, driving the second drive wheel 3452 to rotate forward or backward. The second drive wheel 3453 can be driven to rotate forward or backward via the second conveyor belt 3454, thereby driving the rotating shaft 343 to rotate clockwise or counterclockwise. This enables the target device 40 to swing around the axis of the rotating shaft 343 (i.e., the direction perpendicular to the height of the base plate 31), thereby adjusting the pitch angle of the target device 40 so that the target device 40 is oriented towards a suitable observation position to observe detailed target information.

[0128] In one embodiment, reference is made 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 mounted on the swing support 342 and connected to the swing motor 3451, and the third sensor 347 is mounted on the swing bracket 344. With this configuration, when the third drive assembly 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 output a sensing signal to determine its position, thereby controlling the swing stroke of the swing mechanism 34.

[0129] In one embodiment, reference is made to Figure 13 and Figure 14 The swing mechanism 34 also includes a limiting plate 348. During installation, the limiting plate 348 is installed on the second support shell 341. The limiting plate 348 is provided with a movable groove 349 arranged in the horizontal direction of the base plate 31. The swing bracket 344 is located in the movable groove 349. With this arrangement, when the third drive assembly 345 drives the rotating shaft 343 to rotate clockwise or counterclockwise, it can drive the swing bracket 344 to swing in the movable groove 349. The movable groove 349 provides guidance and limitation for the swing bracket 344, preventing the swing bracket 344 from being misaligned or offset.

[0130] In one embodiment, reference is made to Figure 1 and Figure 2 The robot also includes a hopper device 20; the hopper device 20 is set on the middle cabinet 60 and is used to place items; the robotic arm 50 is used to control the gripping device 10 to place items into the hopper device 20.

[0131] As an example, the robot also includes a storage bin 20; during installation, the storage bin 20 is placed on the middle cabinet 60 and can be used to place items; with this configuration, the robotic arm 50 can control the gripping device 10 to place items into the storage bin 20, providing convenience for handling and placing items.

[0132] In one embodiment, reference is made to Figure 9 The hopper device 20 includes a connecting frame 21 and at least two hopper mechanisms 22: at least two hopper mechanisms 22 are spaced apart along a second direction, and a connecting frame 21 is provided between two adjacent hopper mechanisms 22.

[0133] As an example, the hopper device 20 includes a connecting frame 21 and at least two hopper mechanisms 22. The at least two hopper mechanisms 22 are spaced apart along a second direction. This arrangement allows the at least two hopper mechanisms 22 to hold the same items or different items; for example, one hopper mechanism 22 can hold unprocessed materials, while the other hopper mechanism 22 can hold processed materials. A connecting frame 21 is provided between adjacent hopper mechanisms 22, which can separate and support the adjacent hopper mechanisms 22, allowing them to be arranged in a vertical layer. This ensures the stability of the hopper mechanisms 22, reduces the planar projection size of the robot, and saves space and land costs.

[0134] In one example, refer to Figure 9 The connecting frame 21 includes two support arms 211 and multiple reinforcing arms 212. During installation, 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 hopper mechanisms 22, and are located on the side where the first fixed baffle 222 and the second fixed baffle 224 are located. In this arrangement, the two hopper mechanisms 22 are separated and supported by the two support arms 211, so that the two hopper mechanisms 22 are arranged in an upper and lower layer arrangement, ensuring the stability of the hopper mechanism 22. In the space between the two hopper mechanisms 22, the two support arms 211 are arranged at intervals along the first direction, corresponding to the positions of the two second fixed baffles 224 respectively. This allows for reserved space for movement, making it convenient to pick up and put down items. The support arm 211 has an arc-shaped structure and is located at the corner of the support frame 221. This provides two connecting parts, one horizontal and one vertical, between the end of each support arm 211 and the support frame 221, enhancing the connection between the support arm 211 and the hopper mechanism 22, thereby improving the stability of the hopper device 20. Each reinforcing arm 212 connects to a support arm 211 and a support frame 221; this arrangement increases the connection area between the support arm 211 and the hopper mechanism 22, further enhancing the connection between them and improving the stability of the hopper device 20.

[0135] In one embodiment, reference is made to Figure 6 and Figure 7 The hopper mechanism 22 is mounted on the connecting frame 21 of the hopper device 20, as shown in the reference. Figure 1 and Figure 2The hopper 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 disposed on the first side of the support frame 221, and the first locking structure 223 is movably disposed along a first direction at a position corresponding to the first fixed baffle 222 on the support frame 221. The second fixed baffle 224 is disposed on the second side of the support frame 221, and the second locking structure 225 is movably disposed along a third direction at a position corresponding to the second fixed baffle 224 on the support frame 221. The first side and the second side are two adjacent sides.

[0136] Among them, the first direction and the third direction are two mutually perpendicular directions. The first direction is the length direction of the hopper mechanism 22, which is the length direction of the robot, and the third direction is the width direction of the hopper mechanism 22, which is the width direction of the robot.

[0137] As an example, the hopper mechanism 22 is used to place items (e.g., a tray for holding materials), specifically including 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 serves as the installation reference, and the first fixed baffle 222 is installed on the first side of the support frame 221 by screwing, welding, or snapping. The first locking structure 223 is movably disposed along a first direction at a position corresponding to the first fixed baffle 222 on the support frame 221. With this configuration, when an item is placed on the support frame 221, the first fixed baffle 222 provides fixed positioning for the item in the first direction, and then the first locking structure 223 is movable along the first direction on the support frame 221, which can push the item toward the position of the first fixed baffle 222 in the first direction, thereby achieving locking and positioning of the item in the first direction. The second fixing baffle 224 is installed on the second side of the support frame 221 by screwing, welding or snapping. The second locking structure 225 is movably disposed in the third direction at the position corresponding to the second fixing baffle 224 on the support frame 221. With this configuration, when an item is placed on the support frame 221, the second fixing baffle 224 provides fixed positioning for the item in the third direction. Then, the second locking structure 225 is movable in the third direction on the support frame 221, which can push the item toward the position of the second fixing baffle 224 in the third direction, thereby achieving locking and positioning of the item in the third direction.

[0138] In this example, the first fixed baffle 222 and the first locking structure 223 are used to lock and position the item in the first direction, and the second fixed baffle 224 and the second locking structure 225 are used to lock and position the item in the third direction. This ensures the stability and safety of the item placement and prevents the item from shaking and being damaged. Moreover, the first locking structure 223 can move along the first direction, thereby adjusting the distance between the first locking structure 223 and the first fixed baffle 222. The second locking structure 225 can move along the third direction, thereby adjusting the distance between the second locking structure 225 and the second fixed baffle 224 to accommodate items of different sizes and improve the applicability of the hopper mechanism 22.

[0139] Furthermore, when multiple layers of items are placed on the support frame 221, they may not be aligned, potentially leading to instability, increased risk of collapse, and potential injury to personnel and damage to items. In the first direction, the first fixed baffle 222 provides alignment and positioning for the items, and then the first locking structure 223 moves along the first direction, simultaneously pushing the multiple layers of items towards the position of the first fixed baffle 222, thus aligning the multiple layers of items in the first direction. In the third direction, the second fixed baffle 224 provides alignment and positioning for the items, and then the second locking structure 225 moves along the third direction, simultaneously pushing the multiple layers of items towards the position of the second fixed baffle 224, thus aligning the multiple layers of items in the third direction. This ensures that the multiple layers of items are neatly arranged, improves the stability of the stack, reduces the risk of collapse, and prevents injury to personnel and damage to items.

[0140] In one embodiment, reference is made to Figure 7 and Figure 8The support frame 221 includes a base plate 2211, a support rod 2212, and a placement plate 2213; the base plate 2211 and the placement plate 2213 are spaced apart along a second direction; the first end of the support rod 2212 is connected to the base plate 2211, and the second end of the support rod 2212 is connected to the placement plate 2213; a first fixed baffle 222 is disposed on the base plate 2211 and located on the first side of the placement plate 2213; the placement plate 2213 is provided with a first moving groove 2214 arranged along the first direction; the first locking structure 223 includes a first moving baffle 2231 and a first moving component 223. 2; The first movable baffle 2231 is movably installed in the first movable slot 2214 and is arranged opposite to the first fixed baffle 222; The first movable component 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 a first direction, the first end of the first screw 22323 is connected to the output end of the first movable motor 22321, and the second end of the first screw 22323 passes through the first support 22322. The driving component 22324 is movably mounted on the first screw 22323, and the first driving component 22324 is connected to the first moving baffle 2231; the second fixed baffle 224 is disposed on the base plate 2211, located on the second side of the placement plate 2213, and the placement plate 2213 is provided with a second moving groove 2215 arranged in a third direction; the second locking structure 225 includes a second moving baffle 2251 and a second moving component 2252; the second moving baffle 2251 is movably mounted in the second moving groove 2215 and is disposed opposite to the second fixed baffle 224; the second moving... Component 2252 includes a second moving motor 22521, a second support 22522, a second screw 22523, and a second drive member 22524. The second moving motor 22521 and the second support 22522 are spaced apart along a third direction. The second end of the second screw 22523 is connected to the output end of the second moving motor 22521. The second end of the second screw 22523 passes through the second support 22522. The second drive member 22524 is movably mounted on the second screw 22523 and is connected to the second moving baffle 2251.

[0141] The second direction is a direction perpendicular to the first and third directions, and the second direction is the height direction of the hopper mechanism 22, i.e., the height direction of the robot.

[0142] As an example, the base plate 2211, support rod 2212 and placement plate 2213 cooperate to form two layers of placement space. The space between the base plate 2211 and the placement plate 2213 is the first layer of placement space, which is used to place other parts of the hopper mechanism 22; the space on the placement plate 2213 is the second layer of placement space, which is used to place items. The first moving motor 22321 rotates forward or reverse, driving the first screw 22323 to rotate forward or reverse, thereby driving the first driving member 22324 to move along the first direction on the first screw 22323. This causes the first moving baffle 2231 to move along the first direction within the first moving groove 2214. The first moving baffle 2231 and the first fixed baffle 222 cooperate to lock and position the item in the first direction. The screw assembly can be used to adjust the first moving baffle 2231 step by step according to the thread feed, which improves the accuracy of the equipment. It can prevent the first moving baffle 2231 from moving too far, which would not be able to lock and position the item, and it can also prevent the first moving baffle 2231 from moving too far, which would damage the item. At the same time, by adjusting the distance between the first moving baffle 2231 and the first fixed baffle 222, it can accommodate items of different sizes, thus improving the applicability of the hopper mechanism 22. The second moving motor 22521 can rotate forward or reverse, driving the second screw 22523 to rotate forward or reverse, thereby driving the second driving component 22524 to move along a third direction on the second screw 22523. This causes the second moving baffle 2251 to move along a third direction within the second moving groove 2215, allowing the second moving baffle 2251 and the second fixed baffle 224 to cooperate in locking and positioning the item in the third direction. The screw assembly allows for step-by-step adjustment of the second moving baffle 2251 according to the thread feed, improving the accuracy of the equipment. This avoids the second moving baffle 2251 moving too short a distance, which would prevent it from locking and positioning the item, and also avoids the second moving baffle 2251 moving too long a distance, which could damage the item. At the same time, by adjusting the distance between the second moving baffle 2251 and the second fixed baffle 224, it can accommodate items of different sizes, increasing the applicability of the hopper mechanism 22.

[0143] In one embodiment, reference is made to Figure 8The first locking structure 223 also includes a first guide rail assembly 2233, which 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 drive member 22324. The first slider 22332 is slidably mounted on the first guide rail 22331. In this way, the first guide rail assembly 2233 can provide guidance and limit for the movement of the first drive member 22324, thereby providing guidance and limit for the movement of the first moving baffle 2231 and preventing the first moving baffle 2231 from being misaligned or offset, which would affect the locking and positioning of the item. The second locking structure 225 also includes a second guide rail assembly 2253, which 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 drive member 22524. The second slider 22532 is slidably mounted on the second guide rail 22531. In this way, the second guide rail assembly 2253 can provide guidance and limit for the movement of the second drive member 22524, thereby providing guidance and limit for the movement of the second moving baffle 2251 and preventing the second moving baffle 2251 from being misaligned or offset, which would affect the locking and positioning of the item.

[0144] In one embodiment, reference is made to Figure 6 and Figure 8 The first locking structure 223 also includes two first limit switches 2234 and a first sensing element 2235. During installation, the two first limit switches 2234 are spaced apart on the base plate 2211 along the first direction and are both connected to the first moving motor 22321. One first limit switch 2234 serves as a start switch and the other first limit switch 2234 serves as a stop switch. The first sensing element 2235 is disposed on the first driving member 22324. The first moving motor 22321 drives the first driving member 22324 to move through the first screw 22323, so that the first sensing element 2235 sequentially senses or contacts the two first limit switches 2234 and can output a sensing signal to determine its position, thereby limiting the working stroke of the first driving member 22324 and limiting the working time of the first moving motor 22321. In this example, based on the dimensions of the item, the required distance for the first moving baffle 2231 to move is determined. This allows for adjustment of the distance between the two first limit switches 2234, thereby controlling the operating time of the first moving motor 22321. This ensures that the first moving motor 22321 can accurately adjust the moving distance of the first moving baffle 2231, preventing the first moving baffle 2231 from moving too little and failing to lock and position the item, or from moving too much and causing damage to the item.

[0145] The second locking structure 225 also includes two second limit switches 2254 and a second sensing element 2255. During installation, the two second limit switches 2254 are spaced apart on the base plate 2211 along a third direction and are both connected to the second moving motor 22521. One second limit switch 2254 serves as a start switch and the other second limit switch 2254 serves as a stop switch. The second sensing element 2255 is disposed on the second driving member 22524. The second moving motor 22521 drives the second driving member 22524 to move through the second screw 22523, so that the second sensing element 2255 sequentially senses or contacts the two second limit switches 2254 and can output a sensing signal to determine its position, thereby limiting the working stroke of the second driving member 22524 and limiting the working time of the second moving motor 22521. In this example, based on the dimensions of the item, the required distance for the second movable baffle 2251 to move is determined. This allows for adjustment of the distance between the two second limit switches 2254, thereby controlling the operating time of the second movable motor 22521. This ensures that the second movable motor 22521 can accurately adjust the moving distance of the second movable baffle 2251, preventing the second movable baffle 2251 from moving too little and failing to lock and position the item, or from moving too much and causing damage to the item.

[0146] In one embodiment, reference is made to Figure 7 The hopper mechanism 22 also includes a first detection element 226 and a second detection element 227. During installation, the first detection element 226 is mounted on the support frame 221 to detect the weight of the items. When placing items, if the detected weight reaches a preset standard, no more items will be placed to prevent damage to the hopper mechanism 22 due to excessive placement. The second detection element 227 is mounted on either the first fixed baffle 222 or the second fixed baffle 224 to detect the height of the items. When placing items, if the detected height reaches a preset standard, no more items will be placed to prevent the hopper mechanism 22 from locking and positioning items that are placed too high.

[0147] In one embodiment, reference is made to Figure 6 and Figure 7 There are two second fixed baffles 224, which are spaced apart along the first direction to allow for clearance and facilitate clamping of items. One of the two second fixed baffles 224 is connected to or is an integral part of the first fixed baffle 222. This arrangement forms baffles in two directions at one corner of the hopper mechanism 22, thereby fixing and positioning the items placed on the hopper mechanism 22.

[0148] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A robot, characterized in that, Includes clamping devices, gimbal devices, robotic arms, and mid-level cabinets; The middle cabinet is equipped with a control module; The gimbal device is mounted on the middle cabinet, and the gimbal device is equipped with a target device. The target device is used to collect first sensing data and send the first sensing data to the control module. The gimbal device includes a base plate, a lifting mechanism, a rotating mechanism, and a swinging mechanism; the lifting mechanism is mounted on the base plate, the rotating mechanism is mounted on the lifting mechanism, the swinging mechanism is mounted on the rotating mechanism, and a target device is provided on the swinging mechanism; the lifting mechanism, the rotating mechanism, and the swinging mechanism cooperate to adjust the attitude of the target device; The robotic arm is mounted on the middle cabinet and is connected to the clamping device; the robotic arm is equipped with a monitor for collecting second sensing data and sending the second sensing data to the control module. The control module is connected to the robotic arm and the gripping device, and is used to control the robotic arm to move to the target position where the item is located based on the first sensing data, and to control the gripping device to grip or not grip the item. The clamping device includes a fixed plate, a clamping mechanism, a pressing mechanism, a first adjusting mechanism, a second adjusting mechanism, a monitoring camera, a rangefinder, and a controller. The clamping mechanism is movably mounted on the fixed plate along a first direction. The pressing mechanism includes a connecting component, a support plate, and an elastic pressure plate. The support plate is movably mounted on the fixed plate along a second direction via the connecting component. The elastic pressure plate is mounted on the support plate and is positioned opposite to the location of the object. The controller is connected to the monitoring camera, the rangefinder, the first adjusting mechanism, and the second adjusting mechanism. The monitoring camera is mounted on the clamping mechanism and is used to collect the size information of the object. The rangefinder is mounted on the pressing mechanism and is used to collect the distance information between the pressing mechanism and the object. The first adjusting mechanism is mounted on the fixed plate and connected to the clamping mechanism, and is used to drive the clamping mechanism to move along the first direction so that the clamping mechanism clamps or releases the object. The second adjusting mechanism is mounted on the fixed plate and connected to the support plate, and is used to drive the pressing mechanism to move along the second direction so that the pressing mechanism presses or does not press the object.

2. The robot according to claim 1, characterized in that, The robotic arm includes a fixed base, a first adapter arm, a second adapter arm, a third adapter arm, a fourth adapter arm, a fifth adapter arm, and an adapter base; The fixed base is mounted on the middle cabinet. One end of the first adapter arm is rotatably mounted on the fixed base around a first axis. One end of the second adapter arm is rotatably mounted on the first adapter arm around a second axis. The three ends of the third adapter arm are rotatably mounted on the second adapter arm around a second axis. One end of the fourth adapter arm is rotatably mounted on the third adapter arm around a fourth axis. One end of the fifth adapter arm is rotatably mounted on the fourth adapter arm around a fifth axis. One end of the adapter base is rotatably mounted on the fifth adapter arm around a sixth axis. The adapter base is connected to the clamping device.

3. 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.

4. The robot according to claim 1, characterized in that, The robot also includes a quick-change device for connecting the robotic arm and the gripping device.

5. The robot according to claim 1, characterized in that, The first adjustment mechanism includes a first adjustment motor, an adjustment drive wheel, an adjustment driven wheel, and an adjustment transmission belt; The first adjusting motor is mounted on the fixed plate, the adjusting drive wheel is mounted on the output shaft of the first adjusting motor, and the adjusting driven wheel is rotatably mounted on the fixed plate. The adjusting driven wheel and the adjusting drive wheel are spaced apart along a first direction. The adjusting transmission belt is fitted onto the adjusting drive wheel and the adjusting driven wheel; The clamping mechanism includes two track assemblies and two gripper assemblies; Two track assemblies are spaced apart on the fixed plate along a third direction, and each gripper assembly is movably mounted on one of the track assemblies along a first direction. The adjusting transmission belt is connected to the two gripper assemblies and is used to drive the two gripper assemblies to move in opposite or opposite directions.

6. The robot according to claim 1, characterized in that, The lifting mechanism includes a base frame, an X-shaped linkage assembly, and a first drive assembly; The base frame and the substrate are spaced apart along the vertical direction of the substrate; The X-shaped linkage assembly includes a first link, a second link, a fixed support, and a movable support; The first link and the second link are connected crosswise via a connecting shaft; The first end of the first connecting rod is mounted on the base plate via a fixed support, and the second end of the first connecting rod is mounted on the base frame via a movable support that moves along the horizontal direction of the base plate. The first end of the second connecting rod is mounted on the substrate in the horizontal direction of the substrate via a movable support, and the second end of the second connecting rod is mounted on the base frame via a fixed support. The first driving component is disposed on the substrate and is connected to a movable support, for causing the first connecting rod and the second connecting rod to rotate in opposite directions or in opposite directions; The rotating mechanism includes a first support shell, a rotating shaft seat, a rotating shaft, and a second drive assembly; The first support shell is mounted on the lifting mechanism, the rotating shaft seat is disposed on the first support 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 swing mechanism; The second drive component is connected to the rotating shaft and is used to drive the rotating shaft to rotate; The swing mechanism includes a second support shell, a swing support, a rotating shaft, a swing bracket, and a third drive assembly; The second support shell is mounted on the rotating mechanism, the rocker support is mounted on the second support shell, one end of the rotating shaft is rotatably mounted on the rocker support, and one end of the rocker bracket is mounted on the rotating shaft; The third drive component is connected to the rotating shaft and is used to drive the rotating shaft to rotate.

7. The robot according to claim 1, characterized in that, The robot also includes a hopper device; The hopper device is installed on the middle cabinet and is used to store items; The robotic arm is used to control the gripping device to place the item into the hopper device.

8. The robot according to claim 7, characterized in that, The hopper device includes a connecting frame and at least two hopper mechanisms: At least two of the hopper mechanisms are spaced apart along a second direction, and a connecting frame is provided between two adjacent hopper mechanisms.

9. The robot according to claim 8, characterized in that, The hopper 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 the first side of the support frame, and the first locking structure is movably disposed along the first direction at the position of the support frame corresponding to the first fixed baffle. The second fixed baffle is disposed on the second side of the support frame, and the second locking structure is movably disposed in the third direction at the position corresponding to the second fixed baffle on the support frame; The first side and the second side are two adjacent sides.

10. The robot according to claim 9, characterized in that, The support frame includes a base plate, support rods, and a placement plate; The base plate and the placement plate are spaced apart along the second direction, and the first end of the support rod is connected to the base plate and the second end of the support rod is connected to the placement plate. The first fixed baffle is disposed on the base plate and located on the first side of the placement plate. The placement plate is provided with a first movable groove arranged along the first direction. The first locking structure includes a first movable baffle and a first movable component; the first movable baffle is movably installed in the first movable slot and is disposed opposite to the first fixed baffle; The first moving component includes a first moving motor, a first support, a first screw, and a first driving component; The first movable motor and the first support are spaced apart along the first direction. The first end of the first screw is connected to the output end of the first movable motor. The second end of the first screw passes through the first support. The first driving member is movably mounted on the first screw and is connected to the first movable baffle. The second fixed baffle is disposed on the base plate and located on the second side of the placement plate. The placement plate is provided with a second moving groove arranged in a third direction. The second locking structure includes a second movable baffle and a second movable component; the second movable baffle is movably installed in the second movable slot and is disposed opposite to the second fixed baffle; The second moving component includes a second moving motor, a second support, a second screw, and a second driving element; The second movable motor and the second support are spaced apart along a 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 passes through the second support. The second driving member is movably mounted on the second screw and is connected to the second movable baffle.

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