Transporting robot arm and humanoid robot

Abstract

The application relates to a carrying mechanical arm and a humanoid robot, which comprises a main arm, a load shell arranged at the tail end of the main arm, a suction mechanism arranged on the load shell and used for taking and placing articles, a power mechanism arranged on the load shell, and a blowing mechanism arranged on the load shell and cooperatively installed with the power mechanism, wherein the blowing mechanism can blow air to the articles under the driving of the power mechanism. When the power mechanism is started, the power mechanism drives the blowing mechanism to blow air to the articles, so that dirt on the surface of the articles can be removed in advance, the suction mechanism can be vacuum-sucked with the articles again, the suction mechanism can avoid the interference of the dirt and reduce the effective suction area with the articles, the suction mechanism can ensure that a large enough suction force is formed on the articles, the articles can be effectively prevented from falling and being damaged during the carrying and transferring process, the working reliability of the carrying mechanical arm is improved, and users can be prevented from suffering unnecessary economic losses.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and in particular to a carrying mechanical arm and a humanoid robot. BACKGROUND

[0002] Mechanical arms are the most widely used automated mechanical devices in the field of robotics. They can be found in various fields such as industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration. Although they have different forms, they all have one common feature, which is that they can receive instructions and accurately position to a certain point in three-dimensional (or two-dimensional) space for work. In practical use, mechanical arms are equipped on the body of humanoid robots as execution terminals to complete various work tasks.

[0003] In traditional technology, in order to avoid damage to the goods such as squeezing and clamping during carrying, a suction cup mechanism is installed at the end of the mechanical arm to realize the picking and placing operation of the goods by vacuum suction force. Then, when the goods are in a relatively harsh storage environment, a large amount of dust, lint and other dirt will accumulate on the surface of the goods, which will greatly reduce the effective adsorption area of the suction cup mechanism and the goods, and thus weaken the adsorption force, causing the goods to fall and break during the transfer of the goods due to insufficient adsorption force, greatly affecting the working reliability of the mechanical arm and causing unnecessary economic losses. SUMMARY

[0004] Therefore, it is necessary to provide a carrying mechanical arm and a humanoid robot to solve the problem of small effective adsorption area and insufficient adsorption force in traditional technology, which leads to the falling and breaking of goods during the transfer of the goods.

[0005] In a first aspect of the present application, a carrying mechanical arm is provided, which comprises:

[0006] A main arm, the end of the main arm is provided with a carrier shell, and the carrier shell is provided with a suction mechanism for picking and placing goods;

[0007] A power mechanism, the power mechanism is arranged on the carrier shell;

[0008] A blowing mechanism, the blowing mechanism is arranged on the carrier shell, and the blowing mechanism is installed in cooperation with the power mechanism, and the blowing mechanism can blow air to the goods under the drive of the power mechanism.

[0009] The carrying mechanical arm of the scheme is applied to a humanoid robot, and is used as an execution terminal to carry out picking and placing of articles, specifically, a suction mechanism is arranged on the load shell of the main arm, the suction mechanism generates a vacuum suction force to complete the picking of the article, when the article is moved to the destination, the suction mechanism breaks the vacuum to release the article; then, before picking the article, if it is found that the surface of the article is attached with dust, lint and other dirt, the main arm can be controlled to approach the article first, and then a power mechanism is started to drive a blowing mechanism to blow air to the article, so that the dirt on the surface of the article can be cleaned in advance, on this basis, the suction mechanism is vacuum-sucked with the article again, the suction mechanism can avoid the interference of the dirt to reduce the effective suction area with the article, ensure that the suction mechanism forms a large enough suction force on the article, thereby effectively preventing the article from falling and being damaged during the carrying and transferring process, improving the working reliability of the carrying mechanical arm, and preventing the user from suffering unnecessary economic losses.

[0010] The technical scheme of the present application is further described below:

[0011] In one of the embodiments, the blowing mechanism comprises a pressing block and an air bag, the pressing block is in abutment with the air bag, the air bag is arranged on the load shell, the air bag is provided with a blowing port, and the blowing port is arranged to face the article; and the power mechanism is in transmission connection with the pressing block.

[0012] In one of the embodiments, the power mechanism comprises a motor, a screw rod, a nut block and an actuating body, the motor is arranged on the load shell, the screw rod is connected with the driving shaft of the motor, the nut block is screwed on the outside of the screw rod, the actuating body is connected with the nut block, the pressing block is provided with an inclined surface, and the actuating body is in slidable abutment with the inclined surface.

[0013] In one of the embodiments, the load shell is provided with a limiting slot, and a limiting rod is arranged on the nut block and slidably penetrates into the limiting slot.

[0014] In one of the embodiments, the blowing mechanism further comprises a guide rod and a guide block, the main arm is provided with a guide slot, one end of the guide rod is connected with the pressing block, the other end of the guide rod is connected with the guide block, and the guide block slidably penetrates into the guide slot.

[0015] In one of the embodiments, the carrying mechanical arm further comprises a cleaning mechanism, the cleaning mechanism is arranged on the actuating body, and the cleaning mechanism is used to clean the surface of the article.

[0016] In one of the embodiments, the cleaning mechanism comprises a support plate, a bottom plate and a cleaning assembly, one end of the support plate is arranged on the actuator, the bottom plate is detachably arranged on the support plate, and the cleaning assembly is arranged on the plate surface of the bottom plate away from the support plate.

[0017] In one of the embodiments, the cleaning assembly comprises a plurality of cleaning members, and the plurality of cleaning members are arranged side by side and spaced along the length direction of the bottom plate.

[0018] The cleaning mechanism further comprises a cantilever plate and a distance sensor, the cantilever plate is arranged on the side surface of the carrier shell, and the distance sensor is arranged on the cantilever plate.

[0019] In one of the embodiments, the suction mechanism comprises a suction assembly and a plurality of suction disc bodies, the suction assembly is arranged on the carrier shell, and the plurality of suction disc bodies are arranged in an array structure on the carrier shell and are in gas path communication with the suction assembly.

[0020] In one of the embodiments, the carrying mechanical arm further comprises an anti-falling mechanism, the anti-falling mechanism comprises an anti-falling support, an elastic assembly, an anti-falling support plate, a gas bag and a pressure sensor, the anti-falling support is arranged below the carrier shell, the elastic assembly is arranged on the anti-falling support, the anti-falling support plate is in elastic telescopic connection with the elastic assembly, the gas bag is arranged on the bearing surface of the anti-falling support plate, and the pressure sensor is mounted on the surface of the gas bag.

[0021] The second aspect of the present application further provides a humanoid robot, which comprises:

[0022] A chassis configured to be movably arranged;

[0023] A robot body arranged on the chassis and close to one end;

[0024] A carrying mechanical arm according to any one of the above embodiments, which is arranged on the chassis and close to the other end. BRIEF DESCRIPTION OF DRAWINGS

[0025] The accompanying drawings which form a part of this application are intended to provide further understanding of the present application and are incorporated herein for a purpose of explanation and are not intended to limit the present application.

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort.

[0027] Figure 1 This is a structural schematic diagram of a humanoid robot according to one embodiment.

[0028] Figure 2 This is a schematic diagram of the structure of a handling robotic arm according to one embodiment.

[0029] Figure 3 This is a partial structural diagram of a robotic arm for material handling.

[0030] Figure 4 for Figure 3 A structural diagram from another perspective.

[0031] Figure 5 This is a schematic diagram of a fall arrest mechanism according to one embodiment.

[0032] Explanation of reference numerals in the attached figures:

[0033] 100. Humanoid robot; 10. Handling robotic arm; 11. Main arm; 111. Guide groove; 12. Carrier shell; 121. Limiting groove; 122. Limiting rod; 13. Adsorption mechanism; 131. Exhaust assembly; 132. Suction cup body; 14. Power mechanism; 141. Motor; 142. Screw; 143. Nut block; 144. Actuating body; 15. Air blowing mechanism; 151. Extrusion block; 1511. Sloping surface; 15 2. Airbag; 1521. Air inlet; 153. Guide rod; 154. Guide block; 16. Cleaning mechanism; 161. Support plate; 162. Base plate; 163. Cleaning component; 164. Cantilever plate; 165. Distance sensor; 17. Anti-fall mechanism; 171. Anti-fall bracket; 172. Elastic component; 173. Anti-fall support plate; 174. Air bag; 175. Pressure sensor; 20. Chassis; 30. Robot body. Detailed Implementation

[0034] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0035] In the description of the application, it should be understood that, if there are these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application.

[0036] In addition, if there are these terms "first", "second", these terms are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the application, if the term "multiple" appears, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0037] In this application, unless otherwise explicitly specified and limited, if there are terms such as "mounting", "connecting", "connecting", "fixing" and the like, these terms should be broadly understood. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0038] In this application, unless otherwise explicitly specified and limited, if there are similar descriptions such as "first feature on or under second feature", the meaning can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" of the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" of the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0039] It is to be noted that when an element is referred to as being "fixed" or "set" on another element, it can be directly on the other element or there can be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there can be an intervening element. The terms "vertical", "horizontal", "upper", "lower", "left", "right", and similar terms as used herein are for purposes of description only and are not meant to be limiting.

[0040] Referring to Figure 1 The humanoid robot 100 described in an embodiment of the present application comprises a chassis 20 configured to be movably arranged. For example, the chassis 20 can be any one of a wheeled chassis, a tracked chassis, a legged chassis, etc., which can be flexibly set according to actual needs. In the present application, the chassis 20 is a wheeled chassis 20 configured with four walking wheels.

[0041] In addition, the humanoid robot 100 further comprises a robot body 30 and a carrying manipulator 10, the robot body 30 is arranged on the chassis 20 and close to one end, and the carrying manipulator 10 is arranged on the chassis 20 and close to the other end. For example, in the present application, the robot body 30 and the carrying manipulator 10 are both mounted on the top surface of the chassis 20 and arranged in a spaced manner along the front-rear direction of the chassis 20, the carrying manipulator 10 is located at the leading end position of the chassis 20, and the robot body 30 is located at the trailing end position of the chassis 20.

[0042] Please continue to refer to Figure 2 and Figure 3 In the present application, the carrying manipulator 10 comprises a main arm 11, a power mechanism 14, and a blowing mechanism 15. The main arm 11 is the main structure of the carrying manipulator 10, on the one hand, the main arm 11 is connected with the chassis 20 to realize the assembly of the carrying manipulator 10 and the chassis 20, and on the other hand, the main arm 11 is also used to load the integrated power mechanism 14 and blowing mechanism 15.

[0043] In an embodiment, the main arm 11 specifically comprises a seat body, a rotary driver mounted on the seat body, and an arm rod connected with the rotary driver, the seat body is mounted on the chassis 20, and the rotary driver is used to drive the arm rod to rotate 360° in the horizontal plane to realize the adaptation to various working spaces and the flexible picking and placing operation on the articles.

[0044] The end of the main arm 11 is provided with a load shell 12, the load shell 12 is provided with a suction mechanism 13 for picking and placing articles, the power mechanism 14 is arranged on the load shell 12, and the blowing mechanism 15 is arranged on the load shell 12 and is cooperatively mounted with the power mechanism 14, the blowing mechanism 15 can blow air to the articles under the drive of the power mechanism 14.

[0045] In summary, implementing the technical solution of this embodiment will achieve the following beneficial effects: The handling robotic arm 10 of this solution is applied in the humanoid robot 100 as an execution terminal for picking up and placing items. Specifically, by setting an adsorption mechanism 13 on the carrier shell 12 of the main arm 11, the adsorption mechanism 13 generates vacuum suction to grasp the items. After the items are moved to their destination, the adsorption mechanism 13 breaks the vacuum to release the items. Furthermore, if dust, lint, or other dirt is found attached to the surface of the items before grasping them, the main arm 11 can be controlled to first lean against the surface of the items. The robot arm 10 approaches the object and then activates the power mechanism 14. The power mechanism 14 drives the air blowing mechanism 15 to blow air onto the object, thus cleaning the surface of the object in advance. On this basis, the adsorption mechanism 13 then performs vacuum adsorption with the object. The adsorption mechanism 13 can avoid being affected by dirt, which would reduce the effective adsorption area with the object. This ensures that the adsorption mechanism 13 forms a sufficiently large adsorption force on the object, thereby effectively preventing the object from falling and breaking during the handling and transfer process, improving the working reliability of the handling robot arm 10, and preventing users from suffering unnecessary economic losses.

[0046] Please continue reading. Figure 3 In an optional embodiment, the air blowing mechanism 15 includes a squeezing block 151 and an airbag 152. The squeezing block 151 abuts against the airbag 152, which is disposed on the carrier shell 12. The airbag 152 has an air blowing port 1521 for facing the object. The power mechanism 14 is drivenly connected to the squeezing block 151. When the main arm 11 moves close to the object, the power mechanism 14 drives the squeezing block 151 to move. The squeezing block 151 squeezes the airbag 152, forcing the airbag 152 to contract and deform, thereby expelling the air inside the airbag cavity from the air blowing port 1521 at a relatively fast flow rate, thus removing dust, lint, and other dirt from the surface of the object.

[0047] As is easily understood, the airbag 152 is a rubber airbag 152 with elastic recovery ability. Therefore, when the squeezing block 151 squeezes or moves away from the airbag 152, the airbag 152 can automatically return to its original state, thereby realizing the continuous blowing of airflow onto the surface of the object and enhancing the cleaning effect on the surface of the object.

[0048] Optionally, the air inlet 1521 can be a strip-shaped hole structure, a structure with multiple holes arranged in an array, etc., and can be flexibly selected according to actual needs.

[0049] Please continue reading. Figure 3In addition, in one embodiment, the power mechanism 14 includes a motor 141, a screw 142, a nut block 143, and an actuating body 144. The motor 141 is disposed on the housing 12, the screw 142 is connected to the drive shaft of the motor 141, the nut block 143 is screwed to the outside of the screw 142, the actuating body 144 is connected to the nut block 143, the pressing block 151 is provided with a ramp surface 1511, and the actuating body 144 is slidably abutted against the ramp surface 1511.

[0050] During operation, the motor 141 drives the nut block 143 to reciprocate linearly in a preset direction via the screw 142. The nut block 143 then drives the actuator 144 to reciprocate synchronously. When the actuator 144 slides from the high end to the low end of the ramp 1511, it applies a squeezing force to the squeezing block 151 in the direction of the airbag 152, so that the squeezing block 151 squeezes the airbag 152, causing the airbag 152 to contract and deform and blow air onto the object. When the actuator 144 slides from the low end to the high end of the ramp 1511, the actuator 144 moves away from the airbag 152, the squeezing force applied to the airbag 152 gradually disappears, the airbag 152 slowly recovers its shape, and air is drawn into the bladder so that the airbag 152 blows air onto the object a second time.

[0051] Please continue reading. Figure 3 and Figure 4 To improve the smoothness of the reciprocating movement of the nut block 143, in one embodiment, the carrier shell 12 has a limiting groove 121, and a limiting rod 122 is provided on the nut block 143. The limiting rod 122 is slidably inserted into the limiting groove 121. While the screw 142 drives the nut block 143 to reciprocate, the limiting rod 122 slides synchronously in the limiting groove 121 to limit and guide the nut block 143.

[0052] Please continue reading. Figure 3 It is easy to understand that when the compression block 151 compresses the airbag 152, it will inevitably be subjected to the elastic reaction force applied by the airbag 152. This can easily cause the compression block 151 to become unstable, thus affecting the compression effect of the compression block 151 on the airbag 152. Therefore, in order to solve this technical problem, in one embodiment, the blowing mechanism 15 further includes a guide rod 153 and a guide block 154. The main arm 11 is provided with a guide groove 111. One end of the guide rod 153 is connected to the compression block 151, and the other end of the guide rod 153 is connected to the guide block 154. The guide block 154 is slidably inserted into the guide groove 111.

[0053] As the extrusion block 151 moves toward the airbag 152 to compress the airbag 152 and cause it to contract and deform, the extrusion block 151 simultaneously drives the guide rod 153. The guide rod 153 then drives the guide block 154 to slide in the guide groove 111. In this way, the guide block 154 and the guide rod 153 can effectively guide the extrusion block 151, ensuring that the extrusion block 151 moves smoothly and preventing the extrusion block 151 from becoming unstable and shaking, which would affect the extrusion effect on the airbag 152.

[0054] Preferably, the guide rod 153 has a U-shaped structure, with guide blocks 154 installed at both ends. Guide grooves 111 are opened on the opposite side walls of the main arm 11. The two guide blocks 154 are installed in a one-to-one correspondence with the guide grooves 111, thereby achieving double-sided guidance of the extrusion block 151 and further improving the movement stability of the extrusion block 151.

[0055] It should be noted that in some practical applications, dust and other contaminants on the surface of objects accumulate for too long, combining with moisture in the air to form a strong adhesive layer. Therefore, the airflow from the airbag 152 may not be able to effectively remove the contaminants from the object's surface. To address this, in another embodiment, the handling robotic arm 10 also includes a cleaning mechanism 16, which is mounted on the actuator 144 and is used to clean the surface of the object. Thus, the cleaning mechanism 16 can directly contact and remove the highly adhesive contaminants from the object's surface, ensuring effective cleaning.

[0056] Please continue reading. Figure 3 and Figure 4 For example, in an optional embodiment, the cleaning mechanism 16 includes a support plate 161, a base plate 162, and a cleaning assembly. One end of the support plate 161 is disposed on the actuating body 144, and the base plate 162 is detachably disposed on the support plate 161. The cleaning assembly is disposed on the surface of the base plate 162 facing away from the support plate 161. During operation, as the actuating body 144 reciprocates in a preset direction, it drives the support plate 161 and the base plate 162 to reciprocate synchronously in the same direction, thereby driving the cleaning assembly to repeatedly scrape and brush the surface of the object to remove dirt that is difficult to remove by air blowing.

[0057] More specifically, in one embodiment, the cleaning assembly includes a plurality of cleaning elements 163, which are arranged side-by-side at intervals along the length of the base plate 162. The arrangement of multiple cleaning elements 163 at intervals allows for a larger cleaning area per pass, improving the cleaning efficiency of the cleaning assembly. Optionally, the cleaning elements 163 may be cleaning brushes, cleaning cotton, etc.

[0058] Please continue reading. Figure 3In addition, the cleaning mechanism 16 also includes a cantilever plate 164 and a distance sensor 165. The cantilever plate 164 is disposed on the side of the housing 12, and the distance sensor 165 is disposed on the cantilever plate 164. The cleaning component 163 protrudes from the bottom plate 162 at a certain height. The distance sensor 165 can detect the distance to the surface of the object in real time. When the detected distance is equal to the protrusion length of the cleaning component 163, the main arm 11 stops moving to ensure that the cleaning component 163 effectively contacts the surface of the object.

[0059] Please continue reading. Figure 2 and Figure 3 Based on any of the above embodiments, the adsorption mechanism 13 includes an exhaust assembly 131 and multiple suction cups 132. The exhaust assembly 131 is disposed on the carrier shell 12, and the multiple suction cups 132 are arranged in an array on the carrier shell 12 and are all connected to the air passage of the exhaust assembly 131. During operation, the exhaust assembly 131 draws air from the suction cups 132 to create a vacuum state, thereby enabling the adsorption and gripping of items. When the exhaust assembly 131 reduces its exhaust power or stops working, the adsorption force of the suction cups 132 on the items decreases or disappears, thus releasing the items. This method of adsorbing and placing items avoids causing pinching injuries to items and protects the safety of the items.

[0060] Please continue reading. Figure 2 and Figure 5 Furthermore, based on any of the above embodiments, the handling robotic arm 10 also includes a fall protection mechanism 17. The fall protection mechanism 17 includes a fall protection bracket 171, an elastic component 172, a fall protection support plate 173, an air tank 174, and a pressure sensor 175. The fall protection bracket 171 is installed below the carrier shell 12, the elastic component 172 is disposed on the fall protection bracket 171, the fall protection support plate 173 is elastically telescopically connected to the elastic component 172, the air tank 174 is disposed on the bearing surface of the fall protection support plate 173, and the pressure sensor 175 is installed on the surface of the air tank 174.

[0061] More precisely, the entire anti-fall mechanism 17 is arranged below the suction cup body 132, and there is a certain gap between it and the suction cup body 132. This gap forms a cavity for accommodating the object to be adsorbed and grasped. When the adsorption mechanism 13 needs to grasp an object, the end of the anti-fall support plate 173 touches the object, causing the elastic component 172 to compress. The anti-fall support plate 173 contracts relative to the elastic component 172 to avoid the object, making it easier for the adsorption mechanism 13 to move above the object and smoothly adsorb and fix the object through the suction cup body 132.

[0062] When the adsorption mechanism 13 adsorbs and grasps an item during the transfer process, if the item accidentally falls due to insufficient adsorption force or external collision, the item will fall directly onto the anti-fall tray 173. At this time, the elastic component 172 provides elastic cushioning to initially buffer and reduce vibration of the item. At the same time, the air bag 174 comes into contact with the item and undergoes elastic deformation to further cushion and protect the item, preventing it from being injured. After the item stops on the anti-fall tray 173, the pressure sensor 175 directly detects the weight of the item and sends a signal to the central controller installed on the robot body 30. The central controller then controls the alarm indicator on the robot body 30 to produce an alarm sound to remind staff to intervene in time to handle the fallen item.

[0063] In other words, by setting up the anti-fall mechanism 17 in conjunction with the adsorption mechanism 13, even if the item is accidentally dropped during the handling process, the need for transferring and transporting the item can still be met, while preventing the item from being damaged by falling.

[0064] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0065] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A robotic arm for handling materials, characterized in that, include: The main arm has a carrier shell at its end, and an adsorption mechanism is provided on the carrier shell for picking up and putting down items. A power mechanism, wherein the power mechanism is disposed on the carrier shell; An air blowing mechanism is disposed on the carrier shell and is installed in cooperation with the power mechanism. The air blowing mechanism can blow air onto the object under the drive of the power mechanism. The air blowing mechanism includes a squeezing block and an air bladder. The squeezing block abuts against the air bladder, the air bladder is disposed on the carrier shell, and the air bladder is provided with an air blowing port, which is directed toward the item. The power mechanism is drivenly connected to the squeezing block. The power mechanism includes a motor, a screw, a nut block, and an actuator. The motor is mounted on the carrier housing. The screw is connected to the drive shaft of the motor. The nut block is screwed to the outside of the screw. The actuator is connected to the nut block. The extrusion block has a ramp surface, and the actuator can slide against the ramp surface. The handling robotic arm also includes a cleaning mechanism, which is disposed on the actuator and is used to clean the surface of the item; The handling robotic arm also includes a fall protection mechanism, which includes a fall protection plate, an air tank, and a pressure sensor. The air tank is disposed on the bearing surface of the fall protection plate, and the pressure sensor is mounted on the surface of the air tank.

2. The handling robotic arm according to claim 1, characterized in that, The carrier shell has a limiting groove, and the nut block is provided with a limiting rod, which is slidably inserted into the limiting groove.

3. The handling robotic arm according to claim 1, characterized in that, The blowing mechanism also includes a guide rod and a guide block. The main arm has a guide groove. One end of the guide rod is connected to the extrusion block, and the other end of the guide rod is connected to the guide block. The guide block is slidably inserted into the guide groove.

4. The handling robotic arm according to claim 1, characterized in that, The cleaning mechanism includes a support plate, a base plate, and a cleaning assembly. One end of the support plate is disposed on the actuator, the base plate is detachably disposed on the support plate, and the cleaning assembly is disposed on the surface of the base plate opposite to the support plate.

5. The handling robotic arm according to claim 4, characterized in that, The cleaning assembly includes multiple cleaning components, which are arranged side by side at intervals along the length of the base plate.

6. The handling robotic arm according to claim 1, characterized in that, The cleaning mechanism also includes a cantilever plate and a distance sensor. The cantilever plate is disposed on the side of the carrier shell, and the distance sensor is disposed on the cantilever plate.

7. The handling robotic arm according to claim 1, characterized in that, The adsorption mechanism includes an exhaust assembly and multiple suction cups. The exhaust assembly is disposed on the carrier shell, and the multiple suction cups are arranged in an array on the carrier shell and are all connected to the air passage of the exhaust assembly.

8. The handling robotic arm according to claim 1, characterized in that, The fall protection mechanism also includes a fall protection bracket and an elastic component. The fall protection bracket is installed below the carrier shell, and the elastic component is disposed on the fall protection bracket. The fall protection plate is elastically telescopically connected to the elastic component.

9. A humanoid robot, characterized in that, include: The chassis is configured to be movable. The robot body is mounted on the chassis and positioned near one end; The handling robotic arm as described in any one of claims 1 to 8, wherein the handling robotic arm is mounted on the chassis and arranged near the other end.

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