Logistics box fixing and lifting method and manipulator

Abstract

The invention relates to the technical field of unmanned aerial vehicle logistics, in particular to a method for fixing and lifting a logistics box, a plurality of oppositely-arranged clamping arms are adopted, each clamping arm comprises a movable fulcrum and a rotating point, and the process of fixing and lifting the logistics box comprises the following steps that S1, in the initial state, a certain included angle a is formed between each clamping arm and the vertical plane; s2, the movable fulcrum vertically moves upwards, the clamping arms rotate oppositely, the included angle a is increased, and the rotating point horizontally moves in the direction opposite to the rotating direction of the clamping arms; s3, when the clamping arms rotate to the horizontal state, the clamping arms do not rotate any more, and at the moment, the logistics box is fixed by the clamping arms; and S4, the clamping arms move upwards to lift the logistics box. According to the method, the clamping action and the lifting action can be automatically and continuously completed only through a single vertical upward force, the clamping action and the lifting action do not need to be controlled through an additional driving device or a complex control system or algorithm, and equipment and control logic are simplified.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle logistics, and more particularly to a logistics box fixing and lifting method and mechanical hand. BACKGROUND

[0002] With the explosive growth of e-commerce and instant delivery business, unmanned aerial vehicle logistics, as a core component of smart cities and future logistics systems, is rapidly moving from concept verification to commercialization. Its core value lies in breaking through the terrain restrictions and achieving point-to-point rapid and efficient delivery, greatly improving the efficiency of end logistics and reducing labor costs. However, to realize the large-scale and automated freight of unmanned aerial vehicles, a crucial and long-standing technical challenge is how to achieve quick, reliable, and human-free automatic docking and release between logistics boxes and unmanned aerial vehicles at ground stations or delivery points.

[0003] Traditional unmanned aerial vehicle-cargo box connection methods mostly use simple buckles, latches, or electromagnetic attraction structures. These methods have many limitations in actual application: first, they usually have extremely high requirements for the hovering accuracy of unmanned aerial vehicles. Unmanned aerial vehicles are affected by air currents in outdoor environments, and there is an unavoidable millimeter-level or even centimeter-level deviation in hovering position. Small misalignments can cause docking failures, severely reducing the reliability and efficiency of the entire system. Second, most rigid connection structures lack fault tolerance and self-adaptive capabilities. When there is an alignment error, forced docking can not only damage the connection mechanisms on the unmanned aerial vehicle or the cargo box, but also can cause the unmanned aerial vehicle to lose stability and cause safety accidents. Finally, many existing designs generate a large impact load during docking, which is not conducive to the lightweight structure of unmanned aerial vehicle bodies and sensitive flight control systems. Another approach is to use simple hooking or net structures, but this often sacrifices the stability of the connection, and the cargo box is prone to shaking during transportation, affecting the flight stability and safety of the unmanned aerial vehicle.

[0004] To solve the above problems, the industry has begun to explore more intelligent gripping mechanisms. For example, using a multi-fingered dexterous hand designed with bionics, although it has high flexibility, the structure is complex, the manufacturing cost is high, the control algorithm is complex, and the weight is relatively large, which is not suitable for unmanned aerial vehicle platforms that are extremely sensitive to load and power consumption. SUMMARY

[0005] The present application aims to overcome at least one of the above-mentioned defects (shortcomings) of the prior art, and provides a logistics box fixing and lifting method and mechanical hand to solve the problems of complex structure, high manufacturing cost, complex control algorithm, and large weight of existing gripping methods and mechanisms.

[0006] The technical scheme adopted by the present application is a fixing and lifting method of a logistics box, which adopts a plurality of oppositely arranged clamping arms, the clamping arms include a moving support point and a rotating point, and the process of fixing and lifting the logistics box includes the following steps:

[0007] S1, in the initial state, the clamping arms form a certain angle a with the vertical plane;

[0008] S2, the moving support point moves vertically upward, the clamping arms rotate towards each other, the angle a increases, and the rotating point moves in the opposite direction of the horizontal rotation of the clamping arm;

[0009] S3, when the clamping arms rotate to the horizontal state, they no longer rotate, at which time the clamping arms fix the logistics box;

[0010] S4, the clamping arms move upward to lift the logistics box.

[0011] This method only needs a single vertical upward force to automatically and continuously complete the clamping and lifting actions, without the need for additional driving devices or complex control systems and algorithms to control the clamping and lifting actions, simplifying the equipment and control logic. The entire mechanism is composed of clamping arms, moving support points and rotating points, without the need for complex sensors, motors or gear sets. The driving part only needs a simple vertical lifting device, which is simple in structure, low in manufacturing cost and light in weight.

[0012] Further, during the fixing and lifting process, the moving support point of the clamping arm always moves in the same vertical direction.

[0013] The moving support point only moves in the vertical direction, greatly simplifying the requirements for the driving system and the control system. For the driving system, only an actuator that can provide linear motion is needed, without the need for multiple motors or complex multi-degree-of-freedom driving schemes. For the control system, only "up" or "down" instructions need to be sent to the driving system, without the need for complex multi-axis coordinated motion algorithms. Not only does this reduce production costs and maintenance complexity, but it also reduces software complexity and improves system reliability. In addition, a single linear motion driving system is very easy to layout and install, and the structure of the entire system can be made very compact and lightweight.

[0014] Further, a sliding groove is provided, the rotating point moves in the sliding groove, the sliding groove includes a horizontal section and a vertical section, and the length of the horizontal section of the sliding groove is equal to the distance between the moving support point and the rotating point.

[0015] If the length of the horizontal section of the sliding groove is greater than the distance between the dynamic fulcrum and the rotating point, the rotating point has not moved to the junction of the horizontal section and the vertical section when the clamping arm has already rotated to the horizontal position, at this time the rotating point is still on the horizontal section and cannot naturally enter the vertical section, which will cause interference or require additional force to forcibly pull it into the vertical section, resulting in wear and impact. If the length of the horizontal section of the sliding groove is less than the distance between the dynamic fulcrum and the rotating point, the rotating point moves to the edge of the horizontal section and the vertical section when the clamping arm has not rotated to the horizontal position, which will forcibly prevent the clamping arm from continuing to rotate, resulting in incomplete clamping arm travel and failure to achieve maximum designed clamping force, and the rising of the dynamic fulcrum may also be stuck. Setting the length of the horizontal section of the sliding groove equal to the distance between the dynamic fulcrum and the rotating point can ensure that the end of the rotating motion of the clamping arm and the arrival of the rotating point at the end of the horizontal section occur synchronously, thereby achieving smooth, natural, and impact-free stage conversion. This conversion from "rotation" to "lifting" is completely guaranteed by the geometric dimensions of the mechanical structure itself, without the need for sensors to detect position or controllers to switch programs, and is not affected by the accuracy of sensors or control systems, with extremely high reliability.

[0016] A mechanical hand for realizing the fixing and lifting method of the logistics box of claims 1-3, comprising a driving device, a transmission mechanism and a clamping arm, the driving device being connected with the transmission mechanism; the clamping arm has a dynamic fulcrum and a rotating point, the dynamic fulcrum being rotationally connected with the transmission mechanism, the rotating point being provided at one end of the clamping arm, the other end of the clamping arm being a clamping end, and in the initial state, the clamping arm forms an angle a with the vertical plane.

[0017] The driving device is used to provide power, and the transmission device is used to transmit power, so that the dynamic fulcrum of the clamping arm is subjected to a vertical upward force, prompting the clamping arm to first perform a rotating motion to fix the logistics box, and then to move upward to lift the logistics box.

[0018] Further, the transmission mechanism is vertically arranged.

[0019] The transmission mechanism is vertically arranged, so that the dynamic fulcrum of the clamping arm always moves in the same vertical direction during the fixing and lifting process. The main function of the mechanical hand is to vertically lift the logistics box, and the required power is a vertical upward pulling force. The driving force generated by the vertically arranged transmission mechanism is directly in the vertical direction. This force is converted into clamping force and lifting force through the dynamic fulcrum of the clamping arm with almost no loss. On the other hand, the vertically arranged structure is compact and saves space, and the structure of the entire system can be made very compact and lightweight.

[0020] Further, the housing has oppositely arranged side plates, the side plates are provided with a sliding groove, the rotating point moves in the sliding groove, and the sliding groove comprises a horizontal section and a vertical section, the length of the horizontal section of the sliding groove is equal to the distance between the dynamic fulcrum and the rotating point.

[0021] In the initial state, the rotating point of the clamping arm is located at the head of the horizontal section of the sliding groove. When the driving device works, the transmission mechanism pulls the moving support point of the clamping arm upward. Since the rotating point of the clamping arm is limited by the horizontal section of the sliding groove and cannot move upward directly, the clamping arm is forced to rotate around the moving support point, so that the clamping end of the clamping arm swings upward. At this time, the angle a between the clamping arm and the vertical plane increases, and the rotating point of the clamping arm moves in the opposite direction of the rotation of the clamping arm. The length of the horizontal section of the sliding groove is set to be equal to the distance between the moving support point and the rotating point. When the clamping arm rotates to the horizontal state, the rotating point slides into the transition area between the horizontal section and the vertical section of the sliding groove. At this time, the clamping arm stops rotating, and the clamping force reaches the peak value. The transmission mechanism continues to move upward, and the rotating point can smoothly and naturally enter the vertical section of the sliding groove. The clamping arm as a whole rises vertically with the transmission mechanism, and drives the clamped logistics box to be lifted synchronously.

[0022] Further, the vertical section and the horizontal section of the sliding groove are connected by a circular arc transition.

[0023] The circular arc transition between the vertical section and the horizontal section of the sliding groove is used to achieve smooth transition and reduce impact and jamming. If a right-angle transition is used, the rotating point of the clamping arm will suddenly change direction when switching from horizontal motion to vertical motion, which will generate a large impact force, vibration and noise. This not only affects the user experience, but also seriously reduces the service life of the parts, and even causes the phenomenon of jamming, leading to the failure of the mechanism. The circular arc provides a continuous path with gradually changing tangential direction, so that the rotating point can smoothly transition from horizontal motion to vertical motion, avoiding the problems of impact, vibration and jamming.

[0024] Further, in the initial state, the angle a between the clamping arm and the vertical plane is 10-35 degrees.

[0025] The clamping arm is set at a certain angle with the vertical plane, so that the clamping arm can rotate in the preset direction when it is subjected to upward tension. If the angle a is too small, the force arm will be too short, and the driving device will need to output a larger torque to make the clamping arm rotate, which requires a higher driving device. However, if the angle a is too large, the opening between multiple manipulators will be too small, and the precision requirement for the landing of the unmanned aerial vehicle will be increased, or a larger foot support needs to be set to ensure that there is a large enough opening between multiple manipulators so that the logistics box is between multiple manipulators. Therefore, the angle a between the clamping arm and the vertical plane is set to 10-35 degrees to balance.

[0026] Further, the clamping end of the clamping arm is provided with a clamping plate, and the clamping plate is provided with a fixed pin.

[0027] The fixed pin on the clamping plate can be used to fix the logistics box to prevent it from moving and improve the stability during transportation.

[0028] Further, it further comprises a logistics box, and the side surface of the logistics box is provided with a lug, and the lower side of the lug is provided with a locking groove.

[0029] The lug is arranged on the logistics box, the clamping arm is upwards to hold the lug, at this time, the weight of the logistics box is no longer dependent on the friction between the clamping arm and the side wall of the logistics box, but is directly hung on the clamping arm through the lug. The locking groove on the lower side of the lug is matched with the fixing pin on the clamping plate to prevent the logistics box from moving in the horizontal direction, and the safety of anti-falling is greatly improved. Even if the logistics unmanned aerial vehicle tilts during flight, the logistics box will not slide and fall off.

[0030] Compared with the prior art, the mechanical hand only needs a single vertical upward force to automatically and continuously complete the clamping and lifting actions, without additional driving devices or complex control systems and algorithms to control the clamping and lifting actions, thereby simplifying the equipment and control logic. During the fixing and lifting process, the dynamic support point always moves in the vertical direction, and for the driving system, only an actuator capable of providing linear motion is needed, without multiple motors or complex multi-degree-of-freedom driving schemes. For the control system, only the "up" or "down" instruction needs to be sent to the driving system, without complex multi-axis coordinated motion algorithms. This greatly simplifies the requirements for the driving system and the control system, reduces the production cost and the complexity of maintenance, reduces the software complexity, improves the system reliability, and makes the single linear motion driving system layout and installation simple, so that the structure of the whole system can be very compact and lightweight. The length of the horizontal section of the sliding groove is equal to the distance between the dynamic support point and the rotation point, which can ensure that the end of the rotating action of the clamping arm and the arrival of the rotation point at the end of the horizontal section occur synchronously, thereby realizing smooth, natural and impact-free stage conversion. The transition from "rotation" to "lifting" is completely guaranteed by the geometric dimensions of the mechanical structure itself, without the need for sensors to detect the position or controllers to switch programs, and is not affected by the accuracy of the sensors or the control system, so the reliability is high. The vertical section and the horizontal section of the sliding groove are connected by a circular arc, which provides a continuous and gradually changing tangential path, so that the first bearing can smoothly and smoothly transition from horizontal motion to vertical motion, avoiding impact, vibration and jamming problems. If the initial state of the clamping arm and the vertical face is too small, the force arm will be too short, and the driving device needs to output a larger torque to rotate the clamping arm, which requires a higher driving device. However, if the angle a is too large, the opening between multiple mechanical hands will be too small, and the precision requirement for the unmanned aerial vehicle landing will be increased, or a larger footrest needs to be set to ensure that there is a large enough opening between multiple mechanical hands so that the logistics box is between multiple mechanical hands. Therefore, the angle a between the clamping arm and the vertical face is set to 10-35 degrees for balance. The clamping end of the clamping arm is provided with a clamping plate, and the clamping plate is provided with a fixing pin matched with the locking groove on the lug of the logistics box to prevent the logistics box from sliding and falling off during transportation, thereby improving the stability of transportation. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 is a structural diagram of the present application.

[0032] Figure 2 is an internal structural diagram of the present application.

[0033] Figure 3 is a front view of the present application.

[0034] Figure 4 is a front view of the rear side plate.

[0035] Figure 5 is a structural diagram of the logistics box.

[0036] Figure 6 is a structural diagram of the logistics box from another angle.

[0037] Figure 7 is a schematic diagram of the robot fixing the logistics box.

[0038] Figure 8 is a schematic diagram of the robot lifting the logistics box.

[0039] 300, driving device, 310, transmission mechanism, 311, screw rod, 312, nut seat, 3121, limit stop, 313, guide assembly, 3131, sliding rail, 3132, sliding block, 314, bearing seat, 320, clamping arm, 3201, clamping end, 321, first bearing, 322, second bearing, 330, housing, 331, front side plate, 332, rear side plate, 333, inner side plate, 334, outer side plate, 335, bottom plate, 336, top plate, 340, sliding groove, 3401, horizontal section, 3402, vertical section, 350, clamping plate, 351, fixing pin, 150, logistics box, 152, lug, 153, locking groove. DETAILED DESCRIPTION

[0040] The drawings of the present application are only used for illustrative purposes and cannot be understood as a limitation of the present application. In order to better illustrate the following embodiments, some components of the drawings may be omitted, enlarged or reduced, and do not represent the actual size of the product; it is understandable for those skilled in the art that some well-known structures and their descriptions in the drawings may be omitted. Example 1

[0041] The fixing and lifting method of the logistics box of the present embodiment adopts a plurality of oppositely arranged clamping arms, which include a dynamic support point and a rotation point. The process of fixing and lifting the logistics box includes the following steps:

[0042] S1, in the initial state, the clamping arm forms an angle a with the vertical plane;

[0043] S2, the movable support point moves vertically upward, the clamping arms rotate towards each other, the included angle a increases, and the rotation point moves horizontally in the opposite direction of the rotation of the clamping arms;

[0044] S3, when the clamping arms rotate to the horizontal state, they no longer rotate, at which time the clamping arms fix the logistics box;

[0045] S4, the clamping arms move upward to lift the logistics box.

[0046] During the fixing and lifting process, the movable support point of the clamping arms always moves in the same vertical direction.

[0047] A sliding groove is also provided, in which the rotation point moves, and the sliding groove includes a horizontal section and a vertical section, and the length of the horizontal section of the sliding groove is equal to the distance between the movable support point and the rotation point. In step S3, when the clamping arms rotate to the horizontal state, the rotation point of the clamping arms is just at the transition between the horizontal section and the vertical section of the sliding groove, facilitating the execution of step S4.

[0048] The unloading method of the logistics box is the reverse process of the above steps. Embodiment 2

[0049] As shown in Figures 1-4 , the present embodiment provides a mechanical hand for implementing the fixing and lifting method of the logistics box, which comprises a driving device 300, a transmission mechanism 310, clamping arms 320 and a housing 330, the driving device 300 is arranged on the upper side of the housing 330; the transmission mechanism 310 is arranged in the housing 330 and connected with the driving device 300; the housing 330 is a cuboid structure, comprising a front side plate 331, a rear side plate 332, an inner side plate 333, an outer side plate 334, a bottom plate 335 and a top plate 336, wherein the inner side plate 333 is provided with an avoiding position for avoiding the clamping arms 320, and the front side plate 331 and the rear side plate 332 are oppositely arranged. A sliding groove 340 is arranged on the front side plate 331 and the rear side plate 332 respectively, the sliding groove 340 is in the shape of "L" and comprises a horizontal section 3401 and a vertical section 3402, the horizontal section 3401 and the vertical section 3402 are connected by a circular arc, and the length of the horizontal section 3401 is L. The clamping arms 320 comprise a movable support point and a rotation point, the movable support point is a second bearing 322 and is connected with the transmission mechanism 310; the rotation point is a first bearing 321 arranged at one end of the clamping arms 320, the distance between the first bearing 321 and the second bearing 322 is S, which is equal to the length L of the horizontal section 3401 of the sliding groove 340, the first bearing 321 is embedded in the sliding groove 340 and can roll along the sliding groove 340; the other end of the clamping arms 320 is a clamping end 3201, which is a free end and extends out of the housing 330; in the initial state, the clamping arms 320 form an included angle a with the vertical plane, preferably, the included angle a between the clamping arms 320 and the vertical plane in the initial state is 10-35 degrees.

[0050] As shown in Figures 1-3 The driving device 300 is arranged on the top plate 336, and the transmission mechanism 310 is arranged vertically and includes a lead screw 311, a nut seat 312, and a guide assembly 313. The lead screw 311 is arranged vertically, with its upper end connected to the driving device 300 through the top plate 336 and its lower end arranged on the bottom plate 335 of the housing 330. A bearing seat 314 is arranged on the bottom plate 335, and the lower end of the lead screw 331 is arranged on the bearing seat 314. The nut seat 312 is sleeved on the lead screw 311, and the lead screw 311 is provided with external threads. The nut seat 312 is provided with matching internal threads, and the second bearing 322 is connected to the nut seat 312. The guide assembly 313 includes a vertically arranged sliding rail 3131 and a sliding block 3132 in sliding cooperation with the sliding rail 3131. The sliding rail 3131 is fixed on the outer side plate 334 of the housing 330, and the sliding block 3132 is connected to the nut seat 312. The guide assembly 313 is used to limit the horizontal movement of the nut seat 312, so that the nut seat 312 can only move in the vertical direction. When the driving device 300 drives the lead screw 311 to rotate, the nut seat 312 can move up and down along the lead screw 311 through thread cooperation. A limiting block 3121 is arranged on the side of the nut seat 312 facing the inner side plate 333. When the clamping arm 320 rotates to the horizontal state, the limiting block 3121 abuts against the clamping arm 320, preventing the clamping arm 320 from continuing to rotate upward.

[0051] As shown in Figures 1-3 A clamping plate 350 is arranged on the clamping end 3201 of the clamping arm 320, and a fixing pin 351 is arranged on the clamping plate 350. Figure 5 、 Figure 6 The logistics box 150 has a cuboid structure, and lugs 152 are arranged on both sides of the logistics box 150. Locking grooves 153 are arranged on the lower sides of the lugs 152. After the clamping arm 320 fixes the logistics box 150, the clamping arm 320 can hold the lugs 152, so that the weight of the logistics box 150 is no longer dependent on the friction between the clamping arm 320 and the side wall of the logistics box 150, but is directly hung on the clamping arm 320 through the lugs 152, thereby forming a reliable mechanical connection and improving the safety of anti-falling. The fixing pin 351 is arranged on the clamping plate 350, and when the logistics box 150 is fixed, the fixing pin 351 is inserted into the locking groove 153 on the lower side of the lug 152, which can prevent the logistics box 150 from moving horizontally. Even if the unmanned aerial vehicle tilts during flight, the logistics box 150 will not slip off, further improving the safety of anti-falling.

[0052] As shown in Figure 7 、 Figure 8As shown, in use, the manipulator is arranged in pairs below the fuselage of the unmanned aerial vehicle. In this embodiment, two manipulators are arranged oppositely, and the two manipulators are arranged on the left side and the right side of the unmanned aerial vehicle respectively, and the inner side plate 333 of the shell 330 is arranged towards the central axis surface of the fuselage of the unmanned aerial vehicle. When the logistics box 150 is loaded, the unmanned aerial vehicle lands above the logistics box 150, so that the logistics box 150 is located between the two manipulators. In the initial state, the clamping arm 320 is inclined towards the inner side (towards the central axis surface of the fuselage of the unmanned aerial vehicle), and forms a certain angle a with the vertical surface. At this time, the first bearing 321 on the clamping arm 320 is located at the first end of the horizontal section 3401 of the sliding groove 340. When the driving device 300 works, the screw rod 311 rotates, so that the nut seat 312 sleeved on the screw rod 311 moves upwards, and an upward pulling force is applied to the second bearing 322. Since the first bearing 321 of the clamping arm 320 is located in the horizontal section 3401 of the sliding groove 340 and cannot directly move upwards due to the limitation of the horizontal section 3401 of the sliding groove 340, the clamping arm 320 is forced to rotate towards the inner side with the second bearing 322 as the axis, so that the clamping end 3201 of the clamping arm 320 swings upwards. At this time, the angle a between the clamping arm 320 and the vertical surface gradually increases, and the first bearing 321 on the clamping arm 320 moves in the opposite direction (i.e. the outer side) of the rotation of the clamping arm 320. The two manipulators interact with each other, and gradually clamp the logistics box 150. When the clamping arm 320 rotates to the horizontal state, the first bearing 321 is located at the end of the horizontal section 3401 of the sliding groove 340, i.e. the transition zone between the horizontal section 3401 and the vertical section 3402. At this time, the clamping arm 320 abuts against the limiting block 3121 on the nut seat 312, and the clamping arm 320 stops rotating, and the clamping force reaches the peak value. With the continuous upward movement of the nut seat 312, the first bearing 321 enters the vertical section 3402 of the sliding groove 340 from the transition zone, and the clamping arm 320 vertically rises as a whole with the nut seat 312, and drives the clamped logistics box 150 to be lifted synchronously.

[0053] The unloading process of the logistics box 150 is the reverse process of the above steps.

[0054] Obviously, the above embodiments of the present application are only examples for clearly illustrating the technical solutions of the present application, and are not intended to limit the specific embodiments of the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the claims of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A method for fixing and lifting a logistics box, using a plurality of relatively arranged clamping arms, wherein the clamping arms include a movable fulcrum and a rotation point, characterized in that: The process of securing and lifting a logistics box includes the following steps: S1. In the initial state, the clamping arm forms a certain angle a with the vertical plane; S2, the movable fulcrum moves vertically upward, the clamping arms rotate toward each other, the angle a increases, and the rotation point moves horizontally in the opposite direction of the rotation of the clamping arms; S3, when the clamping arm rotates to the horizontal state, it stops rotating and fixes the logistics box; S4. The clamping arm moves upward to lift the logistics box.

2. The method for fixing and lifting a logistics box according to claim 1, characterized in that: During the fixing and lifting process, the movable fulcrum of the clamping arm always moves in the same vertical direction.

3. The method for fixing and lifting a logistics box according to claim 2, characterized in that: A slide groove is provided, and the rotation point moves in the slide groove. The slide groove includes a horizontal section and a vertical section. The length of the horizontal section of the slide groove is equal to the distance between the movable support point and the rotation point.

4. A manipulator for implementing the method for fixing and lifting the logistics box according to claims 1-3, characterized in that: It includes a driving device, a transmission mechanism and a clamping arm, wherein the driving device is connected to the transmission mechanism; the clamping arm has a movable fulcrum and a rotation point, wherein the movable fulcrum is rotationally connected to the transmission mechanism, the rotation point is provided at one end of the clamping arm, and the other end of the clamping arm is a clamping end. In the initial state, the clamping arm forms a certain angle a with the vertical plane.

5. The robot according to claim 4, characterized in that: The transmission mechanism is arranged vertically.

6. The robot according to claim 5, characterized in that: It also includes a shell, which has side panels arranged opposite to each other, and a slide groove is provided on the side panels. The rotation point moves in the slide groove, and the slide groove includes a horizontal section and a vertical section. The length of the horizontal section of the slide groove is equal to the distance between the movable support and the rotation point.

7. The robot according to claim 6, characterized in that: The vertical section and the horizontal section of the chute are connected by an arc transition.

8. The manipulator according to any one of claims 4 to 7, characterized in that: In the initial state, the angle a between the clamping arm and the vertical plane is 10-35 degrees.

9. The manipulator according to any one of claims 4 to 7, characterized in that: The clamping end of the clamping arm is provided with a clamping plate, and the clamping plate is provided with a fixing pin.

10. The robot according to claim 9, characterized in that: It also includes a logistics box, wherein a lug is provided on the side of the logistics box, and a locking groove is provided on the lower side of the lug.

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