Manipulator, manipulator assembly and stacking robot

Abstract

The utility model discloses a mechanical arm which comprises a first rotating rod, a second rotating rod and a third rotating rod. The second rotating rod is sleeved with a sleeve; the first clamping part is fixed to the end of the first rotating rod, and the first clamping part and the first rotating rod can rotate synchronously; the second clamping part is fixed to the end of the second rotating rod, and the second clamping part and the second rotating rod can rotate synchronously; the clamping part is arranged on the two sleeves in a sleeving mode in the mode that the clamping part can move in the first direction. According to the utility model, the vertical placement of the target object can be realized, the site space is saved, and the stacking efficiency is improved. The utility model further provides a mechanical arm assembly which comprises the mechanical arm and a tray. The utility model further provides a palletizing robot which comprises a mechanical arm, a driving part and the manipulator.

Description

Technical Field

[0001] The utility model relates to the technical field of logistics, in particular to a manipulator, a manipulator assembly and a palletizing robot. Background Art

[0002] In the field of logistics, it is usually necessary to sort, transport and stack bags, luggage and other items. With the development of science and technology, robot technology has gradually matured. At present, palletizing robots have been widely used in the field of logistics for sorting, transportation, stacking and other operations. Palletizing robots usually include a robotic arm and a manipulator at the end of the robotic arm. The manipulator can grasp bags, luggage and other target objects and transport them to a designated location for stacking.

[0003] However, the current manipulators on the market can only transport the target to a designated location. For example, when the target is a rectangular suitcase, bag or other item, if the target is placed horizontally, it will take up more space. If the target can be placed vertically, the space occupied by the target will be reduced, reducing the site cost. However, the current manipulators cannot place the target vertically, so manual placement of the target is required to save site space, which greatly increases labor costs, is inefficient and has poor economy. Utility Model Content

[0004] The purpose of the utility model is to solve the problem that the manipulators currently on the market cannot place the target object vertically. The utility model provides a manipulator, a manipulator assembly and a stacking robot, which can not only place the target object horizontally, but also place the target object vertically, saving site space and improving stacking efficiency.

[0005] In order to solve the above technical problems, the embodiment of the utility model discloses a manipulator, comprising:

[0006] A first rotating rod extending along a first direction, wherein a sleeve is sleeved on the first rotating rod;

[0007] a second rotating rod extending along the first direction, the sleeve being sleeved on the second rotating rod, the second rotating rod being spaced apart from the first rotating rod along the second direction, and the second direction being perpendicular to the first direction;

[0008] A first clamping portion is fixed to an end of the first rotating rod, an extending direction of the first clamping portion is arranged at an angle to the first direction, and the first clamping portion can rotate synchronously with the first rotating rod;

[0009] A second clamping portion is fixed to an end of the second rotating rod, the extension direction of the second clamping portion is set at an angle to the first direction, and the second clamping portion can rotate synchronously with the second rotating rod;

[0010] The clamping part is sleeved on the two sleeves in a manner that is movably along the first direction. Along the first direction, the first clamping part and the second clamping part are located on the same side of the clamping part. The clamping part, the first clamping part and the second clamping part are used to clamp the target object.

[0011] By adopting the above technical solution, a first clamping part, a second clamping part and a clamping part are provided to clamp the target object together, and a sleeve is provided to support the target object. Then, by adjusting the posture of the manipulator, the first rotating rod and the second rotating rod are adjusted to the same extension direction as the vertical direction, so that the target object is in a vertical state. Then, the first clamping part is driven to rotate by the first rotating rod, and the second clamping part is driven to rotate by the second rotating rod, so that the first clamping part and the second clamping part avoid the target object in the vertical direction, so that the first clamping part and the second clamping part do not overlap with the target object in the vertical direction, and do not interfere with the target object in the vertical direction, so that the target object can be placed in a vertical state at a designated location, and the manipulator is controlled to stay away from the target object, so that the target object can be placed vertically, which can effectively save site space and labor costs and improve economic efficiency.

[0012] According to another specific embodiment of the present utility model, the extension direction of the first clamping portion is perpendicular to the first direction;

[0013] An extending direction of the second clamping portion is perpendicular to the first direction.

[0014] According to another specific embodiment of the utility model, the clamping portion is provided with two through holes;

[0015] The two through holes penetrate the clamping portion along the first direction;

[0016] The two through holes are spaced apart along the second direction, and each of the sleeves passes through one of the through holes in a one-to-one correspondence;

[0017] The sleeve is movable relative to the through hole along the first direction, so that the clamping portion moves relative to the sleeve along the first direction.

[0018] By adopting the above technical solution, by providing a through hole in the clamping part for the sleeve to pass through, the clamping part can be moved relative to the sleeve along the first direction, so that the clamping part, the first clamping part and the second clamping part clamp the target object.

[0019] According to another specific embodiment of the utility model, the manipulator includes a clamping state and a releasing state;

[0020] In the clamping state, along the projection of the first direction, at least a portion of the first clamping portion, at least a portion of the second clamping portion, and the target object overlap;

[0021] In the released state, along the projection of the first direction, the first clamping portion, the second clamping portion and the target object do not overlap.

[0022] By adopting the above technical solution, the first clamping part and the second clamping part are rotated to overlap with the target object along the first direction, so that the manipulator can be switched from the loose state to the clamping state. In the clamping state, the first clamping part, the second clamping part and the clamping part can clamp the target object, thereby realizing the transportation of the target object. By rotating the first clamping part and the second clamping part to not overlap with the target object along the first direction, the manipulator can be switched from the clamping state to the loose state. In the loose state, the target object can be placed.

[0023] According to another specific embodiment of the utility model, it also includes: a self-locking mechanism, which is arranged on the clamping part;

[0024] The clamping part has a fixed state and a movable state, and the self-locking mechanism can switch the clamping part to the fixed state or the movable state;

[0025] In the fixed state, the clamping portion is fixed relative to the sleeve in the first direction;

[0026] In the movable state, the clamping portion can move relative to the sleeve along the first direction and approach the first clamping portion and the second clamping portion, or move away from the first clamping portion and the second clamping portion.

[0027] By adopting the above technical solution, a self-locking mechanism is provided so that the clamping part can switch between a fixed state and a movable state. In the movable state, the clamping part is controlled to move along the first direction to the clamping part, the first clamping part and the second clamping part to clamp the target object, so as to adjust the position of the clamping part according to the length of the target object along the first direction, which can improve the application range of the manipulator. After clamping the target object, the clamping part is switched to a fixed state so that the position of the clamping part relative to the sleeve in the first direction remains unchanged, so as to ensure that the target object is always in a clamped state during transportation, which can effectively prevent the target object from escaping from the manipulator during transportation.

[0028] According to another specific embodiment of the utility model, the self-locking mechanism comprises: a self-locking member connected to the clamping portion in a manner movable along a third direction, the self-locking member and the clamping portion moving synchronously along the first direction;

[0029] The third direction is perpendicular to the first direction and the second direction;

[0030] Along the third direction, a clamping portion is provided at the bottom of the self-locking member;

[0031] Along the first direction, the self-locking member is located on a side of the clamping portion facing away from the first clamping portion and the second clamping portion, and the self-locking member is close to the bottom of the clamping portion;

[0032] Each of the sleeves is provided with a plurality of clamping grooves distributed along the first direction, each of the clamping grooves extends along the circumference of the sleeve, and the clamping portion can be clamped with any of the clamping grooves.

[0033] By adopting the above technical solution, a self-locking member is provided on the clamping part, a clamping part is provided on the self-locking member, and a clamping groove is provided on the sleeve to cooperate with the clamping part. The self-locking member is fixed relative to the sleeve in the first direction by the clamping of the clamping groove and the clamping part, and the self-locking member and the clamping part are moved synchronously along the first direction, so that the position of the clamping part relative to the sleeve in the first direction remains unchanged, which can effectively prevent the target object from escaping from the manipulator during transportation. In addition, each sleeve is provided with a plurality of clamping grooves in the first direction, so that after the clamping part adjusts its position according to the length of the target object along the first direction, the clamping part is switched to a fixed state by the clamping of the self-locking member and the clamping groove, which effectively improves the application range of the manipulator.

[0034] According to another specific embodiment of the present utility model, each of the clamping portions is an arc-shaped recessed portion, and the shape of the clamping portion is adapted to the shape of the bottom of the clamping groove.

[0035] According to another specific embodiment of the utility model, along the first direction, two sleeves are provided on the side of the clamping portion facing away from the first clamping portion and the second clamping portion;

[0036] Each of the sleeves extends along the first direction, and each of the sleeves is coaxially arranged with one of the through holes;

[0037] A notch is provided above the connection between each sleeve and the clamping portion, and the notch is used to expose the clamping groove in the sleeve so that the clamping portion is clamped in the clamping groove exposed by the notch.

[0038] By adopting the above technical solution, a sleeve is provided on one side of the clamping part for the sleeve to pass through, and a notch is provided above the connection between the cylinder body and the clamping part to expose the clamping groove in the sleeve. When the self-locking part is clamped with the clamping groove through the notch, the side wall of the notch and the clamping part jointly limit the self-locking part, so that the self-locking part and the clamping part move synchronously along the first direction, thereby making the position of the clamping part relative to the sleeve in the first direction fixed and unchanged, which can effectively prevent the target object from escaping from the manipulator during transportation.

[0039] According to another specific embodiment of the utility model, along the first direction, a limit block is provided on the side of the clamping portion facing away from the first clamping portion and the second clamping portion;

[0040] The limit block is provided with a limit channel, and the limit channel penetrates the limit block along the third direction;

[0041] The self-locking member is provided with a limiting rod, the limiting rod extends along the third direction, the shape of the limiting rod is adapted to the limiting channel, and a part of the limiting rod is located in the limiting channel;

[0042] Along the third direction, the limiting rod can move upward relative to the limiting channel to switch the clamping part from the fixed state to the movable state, or the limiting rod can move downward relative to the limiting channel to switch the clamping part from the movable state to the fixed state.

[0043] By adopting the above technical solution, a limit block is provided on the clamping part, and a limit channel is provided on the limit block that passes through the limit block along the third direction, and a limit rod is provided on the self-locking part. Through the cooperation of the limit rod and the limit channel, the self-locking part can be effectively guided to move relative to the clamping groove along the third direction, so that the clamping part is clamped in the clamping groove or the clamping part leaves the clamping groove. In addition, the limit channel can also limit the limit rod in the first direction and the second direction, so that the self-locking part and the clamping part can move synchronously along the first direction.

[0044] According to another specific embodiment of the utility model, the self-locking mechanism further includes a base for fixing to an external device;

[0045] The base is detachably abutted against the self-locking member, so that the self-locking member moves away from the clamping groove along the third direction, so that the clamping portion switches from the fixed state to the movable state;

[0046] Alternatively, the base is separated from the self-locking member along the third direction, so that the self-locking member approaches the engaging groove along the third direction and engages with the engaging groove, so that the clamping portion switches from the movable state to the fixed state.

[0047] By adopting the above technical solution, a base is provided and fixed to an external device (such as a workbench), and the base is used to form abutment with the self-locking member so that the self-locking member is away from the clamping groove, so that the clamping part moves relative to the sleeve along the first direction, and the clamping part can be switched to a movable state, so that the clamping part moves along the first direction until the clamping part and the first clamping part and the second clamping part jointly clamp the target object on the sleeve. Then, by moving the self-locking member away from the base, the self-locking member can be moved along the third direction toward the clamping groove exposed by the notch under the action of gravity, so that the clamping part is switched to a fixed state, so that the target object is in a clamped state during transportation.

[0048] Wherein, any one of the clamping grooves on each sleeve can be aligned with the corresponding notch of the sleeve, so as to adjust the position of the clamping part relative to the sleeve in the first direction according to the length of the target object along the first direction.

[0049] According to another specific embodiment of the utility model, the base is provided with a convex block protruding upward along the third direction, and the upper surface of the convex block is provided with a positioning groove, and the positioning groove extends along the second direction;

[0050] Along the third direction, the bottom of the self-locking member is provided with an abutment portion, and the abutment portion can abut against the bottom of the positioning groove, so that the self-locking member is away from the clamping groove along the third direction, so that the clamping portion switches from the fixed state to the movable state;

[0051] Alternatively, the bottom of the positioning groove can be separated from the abutment portion along the third direction, so that the self-locking member approaches the clamping groove along the third direction, so that the clamping portion switches from the movable state to the fixed state.

[0052] According to another specific embodiment of the utility model, the number of the protrusions is two, the two protrusions are spaced apart along the second direction, and each protrusion is provided with a positioning groove;

[0053] The number of the abutting portions is two, and the two abutting portions are spaced apart along the second direction;

[0054] Each of the abutting portions can abut against the bottom of one of the positioning grooves in a one-to-one correspondence.

[0055] According to another specific embodiment of the utility model, along the first direction, a stopper is provided on the side of the clamping portion facing away from the first clamping portion and the second clamping portion;

[0056] The self-locking member is provided with an elastic member at the upper portion along the third direction;

[0057] The elastic member can abut against the stopper in a compressed state, so that the clamping portion switches from the movable state to the fixed state;

[0058] Alternatively, the elastic member can push the self-locking member to move along the third direction toward the engaging groove in a restored state, so that the clamping portion switches from the movable state to the fixed state.

[0059] By adopting the above technical solution, a stop block is provided on the clamping part, an elastic part is provided on the self-locking part, and the elastic part is made to abut against the stop block. When the self-locking part is away from the base, under the action of the elastic part, the self-locking part moves toward the clamping groove along the third direction so that the clamping part abuts against the clamping groove, thereby fixing the position of the clamping part relative to the sleeve in the first direction, thereby effectively preventing the target object from escaping from the robot arm during transportation.

[0060] The embodiment of the utility model further discloses a manipulator assembly, comprising:

[0061] A manipulator as described in any of the above embodiments;

[0062] A tray is placed on the sleeve, and the clamping portion, the first clamping portion and the second clamping portion are capable of clamping the tray.

[0063] By adopting the above technical solution, the pallet is clamped by the clamping part, the first clamping part and the second clamping part, and the manipulator is controlled to rotate, so that the luggage, bags, soft bags and other items in the pallet can be poured out of the pallet, thereby realizing the separation of the pallet and the luggage. After separation, the pallet is transported to the designated location. This process does not require human intervention, which solves the problem that the existing manipulator cannot effectively separate the pallet and the luggage and other items in the pallet, effectively improves the stacking efficiency and saves labor costs.

[0064] According to another specific embodiment of the utility model, two clamping grooves are provided at the bottom of the tray, each of the clamping grooves extends along the first direction, and the two clamping grooves are spaced apart along the second direction;

[0065] The shape of each of the positioning grooves is adapted to the shape of the sleeve, and each of the positioning grooves is concave-convexly matched with one of the sleeves.

[0066] By adopting the above technical solution, a locking groove is set at the bottom of the pallet for cooperating with the concave and convex part of the sleeve, so as to limit the pallet in the second direction and prevent the pallet from moving relative to the sleeve along the second direction, thereby ensuring that the pallet does not separate from the robot during the tipping process.

[0067] According to another specific embodiment of the utility model, two clamping members are provided on one side of the tray that contacts the first clamping portion and the second clamping portion, and the two clamping members are spaced apart along the second direction;

[0068] Along the second direction, the first clamping portion can abut against one of the locking members, and the second clamping portion can abut against another of the locking members.

[0069] By adopting the above technical solution, two locking members are arranged on the side wall of the pallet, and the two locking members can respectively abut against the first clamping part and the second clamping part along the second direction, thereby limiting the pallet in the second direction and preventing the pallet from moving relative to the sleeve along the second direction, thereby ensuring that the pallet does not separate from the robot arm during the tipping process.

[0070] According to another specific embodiment of the present utility model, along the second direction, the two clamping members are located between the first clamping portion and the second clamping portion, or the first clamping portion and the second clamping portion are located between the two clamping members.

[0071] By adopting the above technical solution, two locking members are arranged on the side wall of the pallet, and the two locking members are located between the first clamping part and the second clamping part along the second direction, or the first clamping part and the second clamping part are located between the two locking members along the second direction. This can limit the pallet in the second direction and prevent the pallet from being displaced relative to the sleeve along the second direction, thereby ensuring that the pallet does not separate from the robot arm during the tipping process.

[0072] According to another specific embodiment of the utility model, two bottom clamping members are provided at the bottom of the tray, and the two bottom clamping members are spaced apart along the second direction;

[0073] Along the second direction, the first rotating rod can abut against one of the bottom locking members, and the second rotating rod can abut against another of the bottom locking members.

[0074] By adopting the above technical solution, two bottom locking members are set at the bottom of the pallet, and the two bottom locking members can respectively abut against the two sleeves along the second direction, thereby forming a limit for the pallet in the second direction to prevent the pallet from moving relative to the sleeve along the second direction, and ensuring that the pallet does not separate from the robot during the tipping process.

[0075] According to another specific implementation of the utility model, along the second direction, the two bottom retaining members are located between the two sleeves, or the two sleeves are located between the two bottom retaining members.

[0076] By adopting the above technical solution, two bottom locking members are set at the bottom of the pallet, and the two bottom locking members are located between the two sleeves along the second direction, or the two sleeves are located between the two bottom locking members along the second direction. This can form a limit on the pallet in the second direction to prevent the pallet from moving relative to the sleeves along the second direction, and ensure that the pallet does not separate from the robot during the tipping process.

[0077] The embodiment of the utility model further discloses a palletizing robot, comprising a mechanical arm;

[0078] A driving unit, fixed to the mechanical arm;

[0079] The manipulator as described in any of the above embodiments is connected to the driving unit, and the driving unit can drive the first rotating rod and the second rotating rod to rotate.

[0080] By adopting the above technical solution, by installing the manipulator described in the above embodiment on the manipulator arm, it is possible to effectively realize the vertical placement operation of luggage and bags, and to handle luggage with trays, and to realize the effective separation of the tray and the luggage, bags and other items in the tray. The stacking efficiency is effectively improved, and the labor cost and site cost are saved.

[0081] According to another specific embodiment of the utility model, the driving unit includes:

[0082] case;

[0083] A first motor is disposed in the housing, the first motor is connected to the first rotating rod, and the first motor can drive the first rotating rod to rotate;

[0084] A second motor is disposed in the housing, the second motor is connected to the second rotating rod, and the second motor can drive the second rotating rod to rotate;

[0085] A portion of the first rotating rod is located in the housing, and a portion of the second rotating rod is located in the housing. BRIEF DESCRIPTION OF THE DRAWINGS

[0086] Figure 1 A three-dimensional view of a palletizing robot according to an embodiment of the utility model is shown;

[0087] Figure 2a A three-dimensional view showing the manipulator of the utility model embodiment in a released state;

[0088] Figure 2b A three-dimensional view showing the manipulator of the utility model embodiment in a clamping state;

[0089] Figure 3 A three-dimensional view showing a clamping portion of a manipulator according to an embodiment of the utility model;

[0090] Figure 4 A three-dimensional view of the clamping part of the manipulator of the utility model embodiment is shown in another viewing angle;

[0091] Figure 5 A side view of the manipulator according to an embodiment of the utility model in a first posture is shown;

[0092] Figure 6a A side view of the manipulator of the utility model embodiment is shown, in a first posture, clamping a target object;

[0093] Figure 6b A side view of the manipulator of the utility model embodiment holding a target object in a second posture is shown;

[0094] Figure 7a A three-dimensional view of a manipulator assembly according to an embodiment of the utility model is shown;

[0095] Figure 7b A schematic front view of a manipulator assembly according to an embodiment of the utility model is shown;

[0096] Figure 8a A three-dimensional view of a manipulator assembly according to another embodiment of the present invention is shown;

[0097] Figure 8b A schematic front view of a manipulator assembly according to another embodiment of the present invention is shown;

[0098] Fig. 9 A top view of a manipulator according to an embodiment of the utility model is shown;

[0099] Fig.10 A three-dimensional view showing a self-locking member of a manipulator according to an embodiment of the utility model;

[0100] Fig.11 A schematic diagram showing the positional relationship between the self-locking member, the sleeve and the base of the manipulator of the embodiment of the utility model;

[0101] Fig.12 A schematic diagram showing the connection between the manipulator and the drive unit of an embodiment of the utility model is shown. DETAILED DESCRIPTION

[0102] The following is an explanation of the implementation of the present invention by specific specific embodiments. Those skilled in the art can easily understand other advantages and functions of the present invention from the contents disclosed in this specification. Although the description of the present invention will be introduced in conjunction with the preferred embodiment, this does not mean that the features of this utility model are limited to this implementation. On the contrary, the purpose of introducing the utility model in conjunction with the implementation is to cover other options or modifications that may be extended based on the claims of the present invention. In order to provide a deep understanding of the present invention, the following description will include many specific details. The present invention can also be implemented without using these details. In addition, in order to avoid confusion or blurring the focus of the present invention, some specific details will be omitted in the description. It should be noted that, in the absence of conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0103] It should be noted that in this specification, similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0104] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the utility model product is usually placed when in use. They are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model.

[0105] The terms “first”, “second”, etc. are only used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0106] In the description of this embodiment, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this embodiment can be understood according to specific circumstances.

[0107] In order to make the purpose, technical solution and advantages of the present invention more clear, the implementation mode of the present invention will be further described in detail below with reference to the accompanying drawings.

[0108] refer to Figure 1The embodiment of the present application provides a palletizing robot 1, including a robot arm 11, a robot hand 12 and a driving unit 13. Among them, the robot hand 12 is connected to the driving unit 13 (the connection method is described later), and the driving unit 13 is fixed to the robot arm 11. The embodiment of the present application does not specifically limit the fixing method of the driving unit 13 and the robot arm 11. For example, in the embodiment of the present application, the driving unit 13 is fixed to the robot arm 11 through a flange 14. For example, the driving unit 13 can also be fixed to the robot arm 11 through fasteners such as bolts.

[0109] The robot arm 11 can drive the robot arm 12 to move. The movement includes moving up and down in the vertical direction, moving forward and backward, left and right in the horizontal direction, rotating, pitching and other actions. The robot arm 12 can clamp the target object 2, and the driving unit 13 can drive the robot arm 12 to clamp the target object 2. The target object 2 can be a bag with a regular shape, such as a carton, luggage (including luggage with wheels and luggage without wheels), objects waiting to be transported on a pallet, or objects with irregular shapes such as soft bags. After the robot arm 12 clamps the target object 2, the robot arm 11 can drive the robot arm 12 to move to a designated position for placement, stacking and other operations.

[0110] Through the manipulator 12 of the present application (see the following description for details), the palletizing robot 1 can realize the vertical or horizontal placement of the luggage, effectively saving site space and labor costs. In addition, the palletizing robot 1 of the embodiment of the present application can also clamp irregularly shaped soft bags and luggage with trays, and realize the separation of luggage from the tray (see the following description for details).

[0111] The specific structure of the manipulator 12 is described in detail below with reference to the accompanying drawings.

[0112] In one possible implementation, reference Figure 2a and Figure 2b Combined with Figure 1 In the embodiment of the present application, the manipulator 12 includes a first rotating rod 121 , a second rotating rod 122 , a first clamping portion 123 , a second clamping portion 124 , a sleeve 125 and a clamping portion 126 .

[0113] The first rotating rod 121 and the second rotating rod 122 both extend along the first direction X, and along the second direction Y (the second direction Y is perpendicular to the first direction X), the first rotating rod 121 and the second rotating rod 122 are spaced apart and arranged in parallel.

[0114] Exemplarily, along the first direction X, one end of the first rotating rod 121 is fixed to the first clamping portion 123, and the other end is connected to the driving portion 13, so that the driving portion 13 ( Figure 1 ) drives the first rotating rod 121 to rotate, and drives the first clamping portion 123 to rotate in the first circumferential direction R1 to a clamping state (as shown in FIG. Figure 2b ), or rotate in the opposite direction along the first circumferential direction R1 to the loose state (as shown in Figure 2a Along the first direction X, one end of the second rotating rod 122 is fixed to the second clamping portion 124, and the other end is connected to the driving portion 13, so that the driving portion 13 drives the second rotating rod 122 to rotate, and drives the second clamping portion 124 to rotate positively along the second circumferential direction R2 to a clamping state (as shown). Figure 2b ), or rotate in the opposite direction along the second circumferential direction R2 to a loose state (as shown in Figure 2a shown).

[0115] In the clamped state, refer to Figure 2b Combined with Figure 1 , the portion of the first clamping portion 123 in contact with the target 2 is located above the first rotating rod 121 along the third direction Z, and the portion of the second clamping portion 124 in contact with the target is located above the second rotating rod 122 along the third direction Z. That is, the projections of the first clamping portion 123 and the second clamping portion 124 along the first direction X (all are shown in the figure) overlap with the target 2 (as shown in FIG. Figure 2b As shown), the manipulator 12 can clamp the target object 2 and can drive the target object 2 to move.

[0116] In other possible embodiments, as the angles of rotation of the first clamping portion 123 and the second clamping portion 124 are different, or the size of the target object 2 along the second direction Y is different, or the size of the target object along the third direction Z is different, along the first direction X, a portion of the projection of the first clamping portion 123 overlaps with the target object 2, and a portion of the projection of the second clamping portion 124 overlaps with the target object 2.

[0117] Taking the second clamping portion 124 as an example, in the clamping state, the extension direction F of the second clamping portion 124 is the same as the third direction Z (eg Figure 2b As shown). However, it is not limited thereto. For example, the second clamping portion 124 (as shown Figure 2b The second rotating rod 122 (shown by the dashed line 124a) may also be located on the side of the second rotating rod 122 facing away from the first rotating rod 121 along the second direction Y, and the extension direction F forms an angle α with the third direction Z, and the angle α is any angle between 0° and 90° (including 0° but excluding 90°), and can be adjusted according to the size of the target object 2 along the second direction to improve the application range of the manipulator 12. For another example, the second clamping portion 124 (such as Figure 2bThe second rotating rod 122 may be located on one side of the second rotating rod 122 close to the first rotating rod 121 along the second direction Y, and the extension direction F forms an angle β with the third direction Z, and the angle β is any angle between 0° and 90° (including 0° but excluding 90°), and can be adjusted according to the size of the target object 2 along the second direction to improve the applicable range of the manipulator 12. Regarding the relationship between the extension direction E of the first clamping portion 123 and the third direction Z in the loose state, reference can be made to the second clamping portion 124, and no further description is given here.

[0118] In the released state, refer to Figure 2a Combined with Figure 1 , the portion of the first clamping portion 123 that is used to contact the target object 2 is not higher than the first rotating rod 121 along the third direction Z, and the portion of the second clamping portion 124 that is used to contact the target object is not higher than the second rotating rod 122 along the third direction Z. That is, the first clamping portion 123 and the second clamping portion 124 avoid the target object 2 along the first direction X, that is, along the projection of the first direction X, the first clamping portion 123 and the second clamping portion 124 do not overlap with the target object 2 along the first direction X, and do not interfere with the target object 2. The manipulator 12 can approach the target object 2, and switch to the clamping state by positively rotating the first rotating rod 121 and the second rotating rod 122 to clamp the target object 2, or place the target object 2 at a specified position.

[0119] Taking the second clamping portion 124 as an example, in the loosened state, the extending direction F of the second clamping portion 124 is the same as the second direction Y (eg Figure 2b As shown). However, it is not limited thereto. For example, the second clamping portion 124 (as shown Figure 2a The second holding portion 124 (shown by the dashed line 124d) may also be located on one side of the second rotating rod 122 close to the first rotating rod 121 along the second direction Y, and the extending direction F forms an angle γ with the third direction Z, and the angle γ is any angle between 0° and 90° (including 0° and 90°). Figure 2a The second clamping portion 124 may be located on the side of the second rotating rod 122 facing away from the first rotating rod 121 along the second direction Y, and the extension direction F forms an angle θ with the third direction Z, and the angle θ is any angle between 0° and 90° (including 0° and 90°). In this way, the second clamping portion 124 may be prevented from interfering with the target object 2 along the first direction X. Regarding the relationship between the extension direction E of the first clamping portion 123 and the third direction Z in the loose state, reference may be made to the second clamping portion 124, and no further description will be given here.

[0120] It should be noted that, in the embodiment of the present application, the rotation direction of the first rotating rod 121 is opposite to that of the second rotating rod 122. Figure 2aFor example, when the first rotating rod 121 rotates in the positive direction along the first circumferential direction R1, it rotates clockwise, and when the first rotating rod 121 rotates in the reverse direction along the first circumferential direction R1, it rotates counterclockwise, and when the second rotating rod 122 rotates in the positive direction along the second circumferential direction R2, it rotates counterclockwise, and when the second rotating rod 122 rotates in the reverse direction along the second circumferential direction R2, it rotates clockwise. However, it is not limited thereto, in other possible implementations, the rotation direction of the first rotating rod 121 is the same as the rotation direction of the second rotating rod 122.

[0121] In some possible implementations, the first rotating rod 121 and the second rotating rod 122 rotate successively, that is, the first rotating rod 121 and the second rotating rod 122 do not rotate synchronously, so that when the distance between the first rotating rod 121 and the second rotating rod 122 along the second direction Y is small, the first clamping portion 123 and the second clamping portion 124 interfere with each other. However, in other possible implementations, for example, when the distance between the first rotating rod 121 and the second rotating rod 122 along the second direction Y is greater than the sum of the lengths of the first clamping portion 123 and the second clamping portion 124, the first rotating rod 121 and the second rotating rod 122 can rotate synchronously or successively.

[0122] Exemplarily, when the spacing between the first rotating rod 121 and the second rotating rod 122 along the second direction Y is smaller than the sum of the lengths of the first clamping portion 123 and the second clamping portion 124, in order to avoid interference between the first clamping portion 123 and the second clamping portion 124, in the released state, the first clamping portion 123 and the second clamping portion 124 are arranged up and down along the third direction Z.

[0123] refer to Figure 2a and Figure 2b , illustratively, the first clamping portion 123 is in the shape of an elongated strip, and the first clamping portion 123 and the first rotating rod 121 are in an L-shape. It should be noted that the L-shape does not mean that the extension direction E of the first clamping portion 123 and the extension direction (i.e., the first direction X) of the first rotating rod 121 must be set at 90°. For example, in the embodiment of the present application, the angle between the extension direction E and the first direction X is 90°, but it is not limited thereto. The angle between the extension direction E and the first direction X can also be 85°, 87°, 92°, 95°, etc., as long as the shape of the first clamping portion 123 and the first rotating rod 121 is roughly L-shaped and can clamp the target object 2.

[0124] Specifically, along the extension direction E, the first end 1231 of the first clamping portion 123 is fixed to the first rotating rod 121, and the second end 1232 is a free end. The second end 1232 can rotate along the first circumferential direction R1 with the first end 1231 as the center. In the embodiment of the present application, the motion trajectory of the second end 1232 is a sector with a central angle of 90°, but is not limited to this. In other possible embodiments, the motion trajectory of the second end 1232 can also be a sector with a central angle of other angles or a circle. It should be noted that in the embodiment of the present application, the extension direction E is not a fixed direction, and the extension direction E changes with the rotation of the first clamping portion 123 (refer to Figure 2a and Figure 2b ). Exemplarily, when the manipulator 12 is in a clamping state, the extension direction E is the same as the third direction Z (the third direction Z is perpendicular to the first direction X and the second direction Y), and when the manipulator 12 is in a loosening state, the extension direction E is the same as the second direction Y.

[0125] Exemplarily, the second clamping portion 124 is in an elongated strip shape, and the second clamping portion 124 and the second rotating rod 122 are in an L-shape. For the definition of the L-shape, reference may be made to the description of the first clamping portion 123 and the first rotating rod 121 above, and no further description is given here.

[0126] Specifically, along the extension direction F, the first end 1241 of the second clamping portion 124 is fixed to the second rotating rod 122, and the second end 1242 is a free end. The second end 1242 can rotate along the second circumferential direction R2 with the first end 1241 as the center. In the embodiment of the present application, the motion trajectory of the second end 1242 is a sector with a central angle of 90°, but is not limited to this. In other possible embodiments, the motion trajectory of the second end 1242 can also be a sector with a central angle of other angles or a circle. It should be noted that in the embodiment of the present application, the extension direction F is not a fixed direction, and the extension direction F changes with the rotation of the second clamping portion 124 (refer to Figure 2a and Figure 2b ). Exemplarily, when the manipulator 12 is in a clamping state, the extending direction F is the same as the third direction Z, and when the manipulator 12 is in a releasing state, the extending direction F is the same as the second direction Y.

[0127] It should be noted that the embodiments of the present application do not impose any specific restrictions on the shapes of the first clamping portion 123 and the second clamping portion 124. For example, in other possible implementations, the first clamping portion 123 and the second clamping portion 124 may also be plates of various shapes such as round, square, etc., or blocks of regular or irregular shapes.

[0128] For example, continue to refer to Figure 1 to Figure 2bThere are two sleeves 125 , one of which is sleeved on the first rotating rod 121 and covers the portion of the first rotating rod 121 outside the driving portion 13 , and the other sleeve 125 is sleeved on the second rotating rod 122 and covers the portion of the second rotating rod 122 outside the driving portion 13 .

[0129] For example, reference Figure 4 and Figure 5 , and combined with Figure 2a , Figure 2b and Figure 3 In the embodiment of the present application, the clamping portion 126 is a plate-like structure, but is not limited thereto. In other possible embodiments, the clamping portion 126 may be two block-like structures, as long as they can cooperate with the first clamping portion 123 and the second clamping portion 124 to clamp the target object 2.

[0130] The clamping portion 126 is simultaneously sleeved on the two sleeves 125 in a manner that it is movable relative to the two sleeves 125 along the first direction X. Specifically, the clamping portion 126 is provided with two through holes 1260, both of which penetrate the clamping portion 126 along the first direction X, and the two through holes 1260 are spaced apart along the second direction Y. One through hole 1260 is for the sleeve 125 covering the first rotating rod 121 to pass through, and the other through hole 1260 is for the sleeve 125 covering the second rotating rod 122 to pass through, so that the clamping portion 126 can move relative to the two sleeves 125 along the first direction X.

[0131] Specifically, references 6a and Figure 6b Combined with Figures 1 to 5 In the embodiment of the present application, when the first clamping portion 123 rotates to the extension direction E that is the same as the third direction Z, and the second clamping portion 124 rotates to the extension direction F that is the same as the third direction Z, the manipulator 12 is in a clamping state. At this time, the two sleeves 125, the clamping portion 126, and the first clamping portion 123 and the second clamping portion 124 together form a clamping space 120. The clamping space 120 is used to accommodate the target object 2 (such as Figure 6a As shown). Exemplarily, when the target object 2 is located in the clamping space 120, the clamping portion 126 moves relative to the first clamping portion 123 and the second clamping portion 124 along the first direction X and approaches the first clamping portion 123 and the second clamping portion 124 (see the following description for details) until the target object 2 is clamped, so that the robot arm 11 can drive the target object 2 to move.

[0132] The working process of the manipulator 12 is described in detail below. Figures 5 to 6b Combined with Figures 1 to 4 ,exist Figure 5In this case, the manipulator 12 is in a first posture (e.g., a horizontal state, that is, the first direction X is the same as the horizontal direction U, and the third direction Z is the same as the vertical direction V), and is in a loosened state. The extension direction E of the first clamping portion 123 is the same as the second direction Y, and the extension direction F of the second clamping portion 124 is the same as the second direction Y. The robot arm 11 can drive the manipulator 12 to move to a clamping position (e.g., the end of a conveyor belt). When the target object 2 moves to the top of the sleeve 125 along the third direction Z through the conveyor belt, the first clamping portion 123 and the second clamping portion 124 rotate forward to put the manipulator 12 in a clamping state (i.e., the extension direction E of the first clamping portion 123 and the extension direction F of the second clamping portion 124 are both the same as the third direction Z). At this time, the target object 2 is located in the clamping space 120 (e.g., Figure 6a shown).

[0133] Next, the robot arm 11 drives the first rotating rod 121, the second rotating rod 122, the first clamping portion 123, the second clamping portion 124 and the sleeve 125 to move relative to the clamping portion 126 along the first direction X, so that the clamping portion 126 and the first clamping portion 123 and the second clamping portion 124 move toward the target object 2 along the first direction X. The distance and direction of movement are not fixed, and are determined according to the size of the target object 2 along the first direction X. For example, the clamping portion 126 can move relative to the sleeve 125 along the first direction X and approach the first clamping portion 123 and the second clamping portion 124, or the clamping portion 126 can move relative to the sleeve 125 along the first direction X and move away from the first clamping portion 123 and the second clamping portion 124 until the target object 2 is clamped.

[0134] For example, reference Figure 6a , the clamping portion 126 applies a clamping force to the target object 2 along the direction X1, and the first clamping portion 123 and the second clamping portion 124 respectively apply a clamping force to the target object 2 along the direction X2 to clamp the target object 2. At this time, the manipulator 12 is still in the first posture, the sleeve 125 provides an upward supporting force along the vertical direction V (that is, the third direction Z) to the target object 2, and the clamping portion 126, the first clamping portion 123, and the second clamping portion 124 jointly provide a clamping force along the horizontal direction U to the target object 2.

[0135] After clamping the target object 2 , the robot arm 11 drives the robot hand 12 and the target object to move to a designated position (eg, a stacking area) to place the target object 2 at the designated position.

[0136] For example, reference Figure 6a Combined with Figure 1 to Figure 2bWhen the target object 2 needs to be placed horizontally, the manipulator 12 only needs to be switched to the loose state (i.e., the first clamping portion 123 and the second clamping portion 124 do not interfere with the target object 2 along the first direction X), and then the manipulator 12 is controlled to rotate along the W direction, or the manipulator 12 is controlled to tilt along the T direction to make the target object 2 slide to the specified position. The embodiment of the present application does not specifically limit the angle of rotation of the manipulator 12 along the W direction, and the angle of tilt of the manipulator 12 along the T direction. For example, it can be 70°, 80°, 90° or 100°, etc., as long as the target object 2 can leave the manipulator 12 and move to the specified position.

[0137] For example, reference Figure 6b Combined with Figure 1 to Figure 2b When the target object 2 needs to be placed vertically, the robot arm 11 is first controlled to drive the robot hand 12 to move to the second posture (such as Figure 6b As shown in the figure, i.e. in the vertical state, the first direction X is the same as the vertical direction V, and the third direction Z is the same as the horizontal direction U). In the second posture, the extension direction E of the first clamping portion 123 is the same as the third direction Z, and the extension direction F of the second clamping portion 124 is the same as the third direction Z. At this time, the first clamping portion 123 and the second clamping portion 124 provide the target 2 with an upward direction along the vertical direction V (i.e. Figure 6b The clamping portion 126 exerts a supporting force on the target object 2 in the vertical direction V downward (i.e. Figure 6b The clamping portion 126 clamps the target object 2 together with the first clamping portion 123 and the second clamping portion 124 along the vertical direction V, and the target object 2 is in a vertical state.

[0138] Next, the first rotating rod 121 is controlled to drive the first clamping part 123 to rotate to a loose state, so that the first clamping part 123 avoids the target object 2 along the vertical direction V, and the second rotating rod 122 is controlled to drive the second clamping part 124 to rotate to a loose state, so that the second clamping part 124 avoids the target object 2 along the vertical direction V, so that the target object 2 can be placed in a designated position in a vertical posture. Then the robot arm 11 drives the robot hand 12 away from the target object 2, so that the target object 2 can be placed vertically. In the application scenario in the field of logistics, the target object 2 is usually a rectangular box (such as a rectangular suitcase). The vertical placement of the target object 2 can effectively save the ground space and does not require manual placement, which has the advantages of high efficiency and good economy.

[0139] In addition, in some application scenarios, the target object 2 is a tray, and the tray contains luggage (usually irregularly shaped soft bags) that need to be transported or sorted. The manipulator 12 provided in the embodiment of the present application can separate the tray from the luggage in the tray.

[0140] Specifically, refer to Figure 6aand Figure 1 , assuming Figure 6a The target object 2 in the figure is a tray. When the manipulator 12 is in the first posture and the tray is in a clamped state, the luggage in the tray can be dumped out by controlling the manipulator 12 to flip along the direction W or pitch along the direction T through the manipulator 10, so as to separate the tray from the luggage in the tray. The embodiment of the present application does not impose any specific restrictions on the flipping angle of the manipulator 12 along the direction W or the pitching angle along the direction T, for example, it can be 70°, 70°, 90°, 100°, 110°, etc., as long as the tray can be separated from the luggage in the tray.

[0141] The robot 12 of the embodiment of the present application can effectively handle luggage with trays. When the luggage in the tray is separated from the tray, the robot 12 drives the tray to move to a designated location (such as a tray recycling location) to achieve automatic recycling of the tray. This process does not require manual intervention, effectively saving labor costs.

[0142] It should be noted that when the tray is separated from the luggage in the tray, the tray is prone to slide. In order to prevent the tray from sliding and improve the stability of the tray, in some possible implementations, reference is made to Figure 7a and Figure 7b Combined with Figure 2a and Figure 2b In the embodiment of the present application, two positioning grooves 212 are provided at the bottom 2101 of the tray 21 (i.e., the side where the tray 21 contacts the sleeve 125), and the two positioning grooves 212 are spaced apart and arranged in parallel along the second direction Y (in other possible embodiments, the two positioning grooves 212 may also be arranged at an angle, i.e., not parallel), and the two positioning grooves 212 extend respectively along the first direction X. Each positioning groove 212 is arc-shaped, and the shape of the positioning groove 212 is adapted to the shape of the sleeve 125. When the tray 21 is placed on the sleeve 125, each sleeve 125 is matched with a positioning groove 212 in a concave-convex manner (at this time, the manipulator 12 can be in a clamping state or in a loose state), so as to limit the movement of the tray 21 relative to the manipulator 12 along the second direction Y.

[0143] On the other hand, two retaining members 211 are provided on the side wall 2102 of the tray 21 (i.e., the side where the tray 21 contacts the first clamping portion 123 and the second clamping portion 124), and the two retaining members 211 are spaced apart and arranged in parallel along the second direction Y (in other possible embodiments, the two retaining members 211 may also be arranged at an angle, i.e., not parallel), and the two retaining members 211 extend along the third direction Z respectively. When the robot 12 is in a clamping state and the tray 21 is located in the clamping space 120, along the second direction Y, the two locking members 211 are located between the first clamping portion 123 and the second clamping portion 124, or along the second direction Y, the first clamping portion 123 and the second clamping portion 124 are located between the two locking members 211, and one locking member 211 can be abutted against the first clamping portion 123, and the other locking member 211 can be abutted against the second clamping portion 124 to limit the movement of the tray 21 relative to the robot 12 along the second direction Y to strengthen the limiting of the tray 21.

[0144] It should be noted that there may be gaps between the locking member 211 and the first clamping portion 123 and between the locking member 211 and the second clamping portion 124 , as long as the movement of the tray 21 along the second direction Y relative to the robot 12 can be restricted so that the tray 21 is separated from the robot 12 .

[0145] In the embodiment of the present application, the locking member 211 is a long strip object with a square cross-section, but is not limited to this. In other embodiments, the cross-section of the locking member 211 can also be a polygon such as a rectangle, pentagon, hexagon, or a circle, or other irregular shapes.

[0146] In addition to the above embodiments, in another possible implementation manner, reference Figure 8a and Figure 8b Combined with Figure 2a and Figure 2b , the bottom of the tray 21 does not have a positioning groove, and two bottom positioning members 213 are provided at the bottom of the tray 21. The two bottom positioning members 213 are spaced apart and arranged in parallel along the second direction Y (in other possible embodiments, the two bottom positioning members 213 may also be arranged at an angle, i.e., not parallel), and the two bottom positioning members 213 extend respectively along the first direction X. When the tray 21 is located on the sleeve 125 (at this time, the manipulator 12 may be in a clamping state or a loose state), along the second direction Y, the two bottom positioning members 213 are respectively located between the two sleeves 125, or along the second direction Y, the two sleeves 125 are respectively located between the two bottom positioning members 213, and one bottom positioning member 213 can abut against one sleeve 125, and the other bottom positioning member 213 can abut against the other sleeve 125, so as to limit the movement of the tray 21 relative to the manipulator 12 along the second direction Y.

[0147] It should be noted that there may be a gap between the bottom retaining member 213 and the sleeve 125 , as long as the tray 21 can be restricted from moving relative to the robot 12 along the second direction so that the tray 21 is separated from the robot 12 .

[0148] The shape of the bottom retaining member 213 is the same as that of the retaining member 211, and will not be described in detail here. However, since the length of the sleeve 125 is different from that of the first clamping portion 123 and the second clamping portion 124, the length of the bottom retaining member 213 is also different from that of the retaining member 211. However, it is not limited thereto, for example, the length of the bottom retaining member 213 can be equal to the retaining member 211, or longer than the retaining member 211, or shorter than the retaining member 211, as long as it can limit the movement of the tray 21 relative to the robot 12 along the second direction.

[0149] On the other hand, the side wall 2102 of the tray 21 is provided with a locking member 211, where the locking member 211 and the Figure 7a and Figure 7b The same is true in the embodiment shown, and will not be described again here.

[0150] In one possible implementation, continue to refer to Figures 1 to 4 In order to ensure that the target object 2 does not fall off the manipulator 12 during transportation (that is, the target object 2 is always in a clamped state), a self-locking mechanism 127 is also provided in the embodiment of the present application.

[0151] The self-locking mechanism 127 can switch the clamping part 126 to a fixed state or a movable state. In the movable state, the clamping part 126 can move relative to the sleeve 125 along the first direction X, so that the clamping part 126, the first clamping part 123 and the second clamping part 124 clamp the target object 2. After clamping the target object 2, the clamping part 126 can be switched from the movable state to the fixed state by the self-locking mechanism 127. In the fixed state, the clamping part 126 is fixed relative to the sleeve 125 along the first direction X, that is, in the fixed state, the clamping part 126 cannot move relative to the sleeve 125 along the first direction X, so that the clamping part 126, the first clamping part 123 and the second clamping part 124 always clamp the target object 2 during transportation to prevent the target object 2 from falling from the robot 12.

[0152] In one possible implementation, reference Figures 2a to 4 Combined with Fig. 9 Specifically, each sleeve 125 is provided with a plurality of clamping grooves 1251 spaced apart along the first direction X, so that after adjusting the position of the clamping portion 126 relative to the sleeve 125 along the first direction X according to the size of the target object 2 along the first direction X, the clamping portion 126 can be put into a fixed state, which can effectively improve the applicable range of the manipulator 12 to clamp targets 2 of various sizes. For example, referring to Figure 2aTaking the sleeve 125 covering the first rotating rod 121 as an example, each of the clamping grooves 1251 extends along the first circumferential direction R1 and is annular, that is, the bottom 12511 of the clamping groove 1251 extends along the first circumferential direction R1 and is annular (such as Fig. 9 and Fig.11 shown).

[0153] Continue to refer Figures 2a to 4 The self-locking mechanism 127 includes a self-locking member 1272. The self-locking member 1272 can be simultaneously engaged in a locking groove 1251 on each sleeve 125, so that the position of the self-locking member 1272 along the first direction X is fixed. At the same time, the self-locking member 1272 is connected to the clamping portion 126 and moves synchronously with the clamping portion 126 along the first direction X. In other words, since the position of the self-locking member 1272 relative to the sleeve 125 along the first direction X is fixed, and the clamping portion 126 and the self-locking member 1272 move synchronously in the first direction X, the position of the clamping portion 126 relative to the sleeve 125 along the first direction X is fixed, so that the clamping portion 126 is in a fixed state. When the self-locking member 1272 leaves the engaging groove 1251 , there is no interference between the self-locking member 1272 and the engaging groove 1251 in the first direction X, so that the clamping portion 126 can be switched to a movable state, and the clamping portion 126 can move along the first direction X relative to the sleeve 125 .

[0154] For example, when the target object 2 is located in the clamping space 120, the clamping portion 126 is first moved relative to the sleeve 125 along the first direction X and approaches the target object 2 until the target object 2 is clamped. After the target object 2 is clamped, the clamping portion 126 is fixed relative to the sleeve 125 along the first direction X by the self-locking member 1272, so that the clamping portion 126 is in a fixed state, and then the clamping portion 126, the first clamping portion 123 and the second clamping portion 124 always clamp the target object 2 during transportation to prevent the target object 2 from escaping from the robot 12.

[0155] refer to Fig.10 Specifically, along the second direction Y, the self-locking member 1272 is provided with two spaced apart clamping portions 12722, each of which is arc-shaped, and the shape of the clamping portion 12722 matches the shape of the bottom 12511 of each clamping groove 1251 on the two sleeves 125, so that the clamping portion 12722 can be clamped with the bottom 12511 of any clamping groove 1251. When the clamping portion 12722 is clamped with the bottom 12511 of a clamping groove 1251 (such as Fig.11As shown in FIG. 1 , the two side walls 12512 of the clamping groove 1251 limit the self-locking member 1272 along the first direction X, so that the self-locking member 1272 remains fixed along the first direction X. As described above, the self-locking member 1272 moves synchronously with the clamping portion 126 along the first direction X. Therefore, the clamping portion 126 remains fixed relative to the sleeve 125 along the first direction X.

[0156] Combine the following Figures 2a to 4 as well as Fig.10 It describes how the clamping portion 126 and the self-locking member 1272 keep moving synchronously along the first direction X.

[0157] In a possible implementation, two sleeves 1262 are provided on one side of the clamping portion 126. The sleeves 1262 are located on the side of the clamping portion 126 facing away from the first clamping portion 123 and the second clamping portion 124 along the first direction X. Each sleeve 1262 extends along the first direction X, and each sleeve 1262 is coaxially arranged with a through hole 1260. The sleeve 1262 has a sleeve channel 12620, and the sleeve channel 12620 is connected to the through hole 1260, that is, the sleeve 125 can enter the sleeve channel 12620 through the through hole 1260 along the first direction X, and can move in the sleeve channel 12620 along the first direction X. Exemplarily, a notch 1263 is provided above the connection between each sleeve 1262 and the clamping portion 126, and the function of the notch 1263 is to expose a clamping groove 1251 located in the sleeve channel 12620, so that the clamping portion 12722 of the self-locking member 1272 can be clamped with the clamping groove 1251 exposed by the notch 1263. Exemplarily, the length of the notch 1263 along the first direction X is greater than or equal to the size of the clamping groove 1251 along the first direction X, so that the clamping portion 12722 of the self-locking member 1272 can enter the clamping groove 1251 through the notch 1263 and be clamped.

[0158] For example, when the target object 2 is located in the clamping space 120, the clamping portion 126 is first moved relative to the sleeve 125 along the first direction X to clamp the target object 2, and both sleeves 125 have a snap-fit ​​groove 1251 aligned with a notch 1263, and then the snap-fit ​​portion 12722 of the self-locking member 1272 enters the snap-fit ​​groove 1251 through the notch 1263 and snaps, and the clamping portion 126 is switched to a fixed state.

[0159] It should be noted that any one of the engaging grooves 1251 on each sleeve 125 can be aligned with the corresponding notch 1263 , so as to adjust the position of the clamping portion 126 according to the length of the target object 2 along the first direction X.

[0160] When the clamping portion 12722 is clamped with the bottom 12511 of the clamping groove 1251, the self-locking member 1272 forms a limit along the first direction X on the side wall 12631 of the notch 1263 to prevent the sleeve 1262 from approaching the first clamping portion 123 and the second clamping portion 124 along the first direction X. Since the sleeve 1262 is arranged on the clamping portion 126, the self-locking member 1272 can prevent the sleeve 1262 from approaching the first clamping portion 123 and the second clamping portion 124 along the first direction X. At the same time, the self-locking member 1272 forms a limit along the first direction X on the clamping portion 126 to prevent the clamping portion 126 from moving away from the first clamping portion 123 and the second clamping portion 124 along the first direction X, so that the self-locking member 1272 and the clamping portion 126 remain fixed in the first direction X.

[0161] In one possible implementation, reference Figure 4 and Fig.10 Combined with Figure 2a and Figure 2b Two limit blocks 1273 are provided on one side of the clamping portion 126 along the first direction X. The two limit blocks 1273 are located on the same side of the clamping portion 126 along the first direction X as the sleeve 1262. The limit block 1273 is provided with a limit channel 12731, and the limit channel 12731 penetrates the limit block 1273 along the third direction Z. The self-locking member 1272 is provided with limit rods 12721 respectively connected to the two limit blocks 1273 in a one-to-one correspondence, each limit rod 12721 extends along the third direction Z, and the shape of the limit rod 12721 is adapted to the limit channel 12731. That is, a portion of the limit rod 12721 is located in the limit channel 12731. When a portion of the limiting rod 12721 is located in the limiting channel 12731, the limiting block 1273 forms a limit on the limiting rod 12721 along the first direction X and the second direction Y, and then forms a limit on the self-locking member 1272 along the first direction X and the second direction Y, so that the self-locking member 1272 and the clamping portion 126 maintain synchronous movement in the first direction X.

[0162] The embodiment of the present application does not impose any specific limitation on the number of the limiting blocks 1273 and the limiting rods 12721 . For example, the number may be one, three, four, or more.

[0163] Exemplarily, the limiting rod 12721 can move downward relative to the limiting channel 12731 along the third direction Z, so that the clamping portion 12722 of the self-locking member 1272 can be clamped to the bottom 12511 of the clamping groove 1251 along the third direction Z, so that the clamping portion 126 is switched to a fixed state, or the clamping portion 12722 of the self-locking member 1272 moves upward along the third direction Z to move away from the bottom 12511 of the clamping groove 1251, so that the clamping portion 126 is switched to a movable state. In this process (the process of the clamping portion 126 switching from the fixed state to the movable state, or the process of switching from the movable state to the fixed state), the limiting channel 12731 guides the limiting rod 12721, that is, the limiting channel 12731 guides the limiting rod 12721 to move along the third direction Z, and then guides the clamping portion 126 to move along the third direction Z.

[0164] In one possible implementation, continue to refer to Figure 2a and Figure 2b In order to make the self-locking member 1272 move relative to the clamping groove 1251 along the third direction Z, the self-locking mechanism 127 in the embodiment of the present application further includes a base 1271. The base 1271 is provided with two protrusions 12711 protruding upward along the third direction Z. Along the third direction Z, the upper surface of each protrusion 12711 is provided with a positioning groove 12712, and the positioning groove 12712 extends along the second direction Y and penetrates the protrusion 12711. Accordingly, referring to Fig.10 and Fig.11 Along the third direction Z, the bottom of the self-locking member 1272 is provided with two abutting portions 12723 respectively corresponding to each positioning groove 12712. Each abutting portion 12723 can abut against the bottom 127121 of the corresponding positioning groove 12712, and the bottom 127121 of the positioning groove 12712 applies an upward pressure along the third direction Z to the abutting portion 12723, so that the self-locking member 1272 is away from the clamping groove 1251 along the third direction Z. At this time, the clamping portion 126 can move relative to the sleeve 125 along the first direction X to clamp the target object 2.

[0165] The embodiment of the present application does not specifically limit the number of the protrusions 12711 and the abutment portions 12723. For example, in another possible implementation, the number of the protrusion 12711 may be one, and the positioning groove 12712 extends along the second direction Y, and the bottom of the positioning groove 12712 abuts against two abutment portions 12723 at the same time. For another example, the number of the protrusions 12711 may also be three, four, five, or more, and the number of the abutment portions 12723 corresponds to the number of the protrusions 12711 one by one.

[0166] The working process of the base 1271 and the self-locking member 1272 is described in detail below.

[0167] For example, reference Figures 1 to 11 When the target object 2 is transported into the clamping space 120, the robot arm 11 ( Figure 1 ) first drives the manipulator 12 to move to a position where the self-locking member 1272 is opposite to the base 1271 along the third direction Z, and then the robot arm 11 drives the manipulator 12 to move along the third direction Z toward the base 1271.

[0168] It should be noted that, in the embodiment of the present application, the base 1271 is fixed to an external device, such as a table, a workbench, etc. For example, in one application scenario, the base 1271 is fixed to the end of a conveyor belt (not shown), and the conveyor belt is used to transport the target object 2 to the manipulator 12. In other words, the base 1271 is fixed, and the manipulator 12 is driven by the manipulator 11 to move relative to the base 1271 along the third direction Z, so that the bottom 127121 of the positioning groove 12712 applies an upward force along the third direction Z to the abutment portion 12723, so that the self-locking member 1272 moves away from the clamping groove 1251 along the third direction Z, thereby making the clamping portion 126 enter a movable state, and the clamping portion 126 can move relative to the sleeve 125 along the first direction X to clamp the target object 2.

[0169] For example, reference Figure 3 and Figure 4 The bottom of the clamping portion 126 is provided with two avoidance openings 1261, which are used to avoid the bottom 127121 of the positioning groove 12712, so that the self-locking member 1272 can be lifted up relative to the clamping portion 126 along the third direction Z by the bottom 127121 of the positioning groove 12712.

[0170] Continue to refer Figures 1 to 11 When the self-locking member 1272 leaves the clamping groove 1251, the robot arm 11 drives the robot hand 12 to move along the first direction X. During this process, the two side walls 127122 of the positioning groove 12712 form a limit along the first direction X for the abutment portion 12723. At the same time, since the self-locking member 1272 is away from the clamping groove 1251, the clamping portion 126 enters a movable state. That is to say, at this time, there is no fixed relationship between the self-locking member 1272 and the clamping portion 126 and the sleeve 125, that is, the sleeve 125 can move along the first direction X relative to the clamping portion 126, while the self-locking member 1272 and the clamping portion 126 and the base 1271 remain fixed along the first direction X. Therefore, when the robot arm 11 drives the robot hand 12 to move along the first direction X, the self-locking member 1272 and the clamping portion 126 remain stationary with the base 1271, and the sleeve 125 moves along the first direction X relative to the self-locking member 1272 and the clamping portion 126 until the clamping portion 126 and the first clamping portion 123 and the second clamping portion 124 jointly clamp the target object 2, and both sleeves 125 have a snap-in groove 1251 that is aligned with the corresponding notch 1263.

[0171] When the target object 2 is clamped and a clamping groove 1251 on each of the two sleeves 125 is aligned with a notch 1263, the robot arm 11 drives the robot hand 12 along the third direction Z (specifically, along Fig.11 The self-locking member 1272 moves away from the base 1271 in the direction indicated by Z1 in the figure, and the clamping portion 12722 of the self-locking member 1272 is clamped with the bottom 12511 of the clamping groove 1251 due to gravity. At this time, the clamping portion 126 switches to a fixed state, and the self-locking member 1272, the clamping portion 126 and the sleeve 125 remain fixed along the first direction X, that is, the target object 2 is always in a clamped state, and the target object 2 is not easy to separate from the robot arm 12 during the transportation of the target object 2.

[0172] In another possible implementation, reference Figure 1 , Figure 2a , Figure 2b , Figure 4 , Fig.10 and Fig.11 A stopper 1274 is further provided on the side of the clamping portion 126 away from the first clamping portion 123 and the second clamping portion 124 along the first direction X. An elastic member 12741 is provided on the upper portion of the self-locking member 1272 along the third direction Z, and the elastic member 12741 is used to abut against the stopper 1274. When the bottom 127121 of the positioning groove 12712 applies an upward force along the third direction Z to the abutting portion 12723 so that the self-locking member 1272 is away from the clamping groove 1251 along the third direction Z, the elastic member 12741 abuts against the stopper 1274 in a compressed state along the third direction Z. When the robot arm 11 drives the robot hand 12 away from the base 1271 along the third direction Z, the elastic force of the elastic member 12741 enables the clamping portion 12722 of the self-locking member 1272 to be clamped with the bottom 12511 of the clamping groove 1251, so as to ensure that the self-locking member 1272 can be clamped with the clamping groove 1251 on the sleeve 125 after the robot hand 12 leaves the base 1271.

[0173] Exemplarily, in the embodiment of the present application, the elastic member 12741 is a spring, but is not limited thereto, as long as the elastic member 12741 can apply an elastic force along the third direction Z toward the base 1271 to the self-locking member 1272 .

[0174] The embodiment of the present application does not impose any specific limitation on the number of the blocking blocks 1274 and the elastic members 12741 . For example, there may be two, three, four or more blocking blocks 1274 and elastic members 12741 .

[0175] The specific structure of the driving part 13 and the connection relationship between the first rotating rod 121 , the second rotating rod 122 and the driving part 13 are introduced below.

[0176] In one possible implementation, reference Fig.12The driving part 13 includes a housing 130, and a first motor 131 and a second motor 132 are disposed in the housing 130. A portion of the first rotating rod 121 is located in the housing 130, and a portion of the second rotating rod 122 is located in the housing 130. The first motor 131 is connected to the first rotating rod 121 to drive the first rotating rod 121 to rotate, and the second motor 132 is connected to the second rotating rod 122 to drive the second rotating rod 122 to rotate.

[0177] For example, in the embodiment of the present application, the first motor 131 drives the first rotating rod 121 to rotate through the belt 1311, thereby driving the first clamping portion 123 to rotate, and the second motor 132 drives the second rotating rod 122 to rotate through the belt 1321, thereby driving the second clamping portion 124 to rotate. However, it is not limited thereto, in other possible implementations, the first motor 131 can drive the first rotating rod 121 to rotate through gears, and the second motor 132 can drive the second rotating rod 122 to rotate through gears. In addition, the first motor 131 can directly drive the first rotating rod 121 to rotate, and the second motor 132 can directly drive the second rotating rod 122 to rotate.

[0178] Although the present invention has been illustrated and described with reference to certain preferred embodiments of the present invention, it should be understood by those skilled in the art that the above contents are further detailed descriptions of the present invention in combination with specific embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. Those skilled in the art may make various changes in form and details, including making several simple deductions or substitutions, without departing from the spirit and scope of the present invention.

Claims

1. A robot, characterized in that: include: A first rotating rod extending along a first direction, wherein a sleeve is sleeved on the first rotating rod; a second rotating rod extending along the first direction, the sleeve being sleeved on the second rotating rod, the second rotating rod being spaced apart from the first rotating rod along the second direction, and the second direction being perpendicular to the first direction; A first clamping portion is fixed to an end of the first rotating rod, an extending direction of the first clamping portion is arranged at an angle to the first direction, and the first clamping portion can rotate synchronously with the first rotating rod; A second clamping portion is fixed to an end of the second rotating rod, the extension direction of the second clamping portion is set at an angle to the first direction, and the second clamping portion can rotate synchronously with the second rotating rod; The clamping part is sleeved on the two sleeves in a manner that is movably disposed along the first direction. Along the first direction, the first clamping part and the second clamping part are located on the same side of the clamping part. The clamping part, the first clamping part and the second clamping part are used to clamp the target object.

2. The robot according to claim 1, characterized in that: The extending direction of the first clamping portion is perpendicular to the first direction; An extending direction of the second clamping portion is perpendicular to the first direction.

3. The robot according to claim 1, characterized in that: The clamping portion is provided with two through holes; The two through holes penetrate the clamping portion along the first direction; The two through holes are spaced apart along the second direction, and each of the sleeves passes through one of the through holes in a one-to-one correspondence; The sleeve is movable relative to the through hole along the first direction, so that the clamping portion moves relative to the sleeve along the first direction.

4. The robot according to claim 1, characterized in that: The manipulator includes a clamping state and a releasing state; In the clamping state, along the projection of the first direction, at least a portion of the first clamping portion, at least a portion of the second clamping portion, and the target object overlap; In the released state, along the projection of the first direction, the first clamping portion, the second clamping portion and the target object do not overlap.

5. The robot according to claim 3, characterized in that: Also includes: A self-locking mechanism, provided on the clamping portion; The clamping part has a fixed state and a movable state, and the self-locking mechanism can switch the clamping part to the fixed state or the movable state; In the fixed state, the clamping portion is fixed relative to the sleeve in the first direction; In the movable state, the clamping portion can move relative to the sleeve along the first direction and approach the first clamping portion and the second clamping portion, or move away from the first clamping portion and the second clamping portion.

6. The robot according to claim 5, characterized in that: The self-locking mechanism comprises: a self-locking member connected to the clamping portion in a manner movable along a third direction, the self-locking member and the clamping portion moving synchronously along the first direction; The third direction is perpendicular to the first direction and the second direction; Along the third direction, a clamping portion is provided at the bottom of the self-locking member; Along the first direction, the self-locking member is located on a side of the clamping portion facing away from the first clamping portion and the second clamping portion, and the self-locking member is close to the bottom of the clamping portion; Each of the sleeves is provided with a plurality of clamping grooves distributed along the first direction, each of the clamping grooves extends along the circumference of the sleeve, and the clamping portion can be clamped with any of the clamping grooves.

7. The robot according to claim 6, characterized in that: The clamping portion is an arc-shaped recessed portion, and the shape of the clamping portion is matched with the shape of the bottom of the clamping groove.

8. The robot according to claim 6, characterized in that: Along the first direction, two sleeves are provided on a side of the clamping portion facing away from the first clamping portion and the second clamping portion; Each of the sleeves extends along the first direction, and each of the sleeves is coaxially arranged with one of the through holes; A notch is provided above the connection between each sleeve and the clamping portion, and the notch is used to expose the clamping groove in the sleeve so that the clamping portion is clamped in the clamping groove exposed by the notch.

9. The robot according to claim 6, characterized in that: Along the first direction, a limiting block is provided on a side of the clamping portion facing away from the first clamping portion and the second clamping portion; The limit block is provided with a limit channel, and the limit channel penetrates the limit block along the third direction; The self-locking member is provided with a limiting rod, the limiting rod extends along the third direction, the shape of the limiting rod is adapted to the limiting channel, and a part of the limiting rod is located in the limiting channel; Along the third direction, the limiting rod can move upward relative to the limiting channel to switch the clamping part from the fixed state to the movable state, or the limiting rod can move downward relative to the limiting channel to switch the clamping part from the movable state to the fixed state.

10. The robot arm according to claim 6, characterized in that: The self-locking mechanism also includes a base for fixing to an external device; The base is detachably abutted against the self-locking member, so that the self-locking member moves away from the clamping groove along the third direction, so that the clamping portion switches from the fixed state to the movable state; Alternatively, the base is separated from the self-locking member along the third direction, so that the self-locking member approaches the engaging groove along the third direction and engages with the engaging groove, so that the clamping portion switches from the movable state to the fixed state.

11. The robot according to claim 10, characterized in that: The base is provided with a convex block protruding upward along the third direction, and the upper surface of the convex block is provided with a positioning groove, and the positioning groove extends along the second direction; Along the third direction, the bottom of the self-locking member is provided with an abutment portion, and the abutment portion can abut against the bottom of the positioning groove, so that the self-locking member is away from the clamping groove along the third direction, so that the clamping portion switches from the fixed state to the movable state; Alternatively, the bottom of the positioning groove can be separated from the abutment portion along the third direction, so that the self-locking member approaches the clamping groove along the third direction, so that the clamping portion switches from the movable state to the fixed state.

12. The robot according to claim 11, characterized in that: The number of the protrusions is two, the two protrusions are spaced apart along the second direction, and each protrusion is provided with a positioning groove; The number of the abutting portions is two, and the two abutting portions are spaced apart along the second direction; Each of the abutting portions can abut against the bottom of one of the positioning grooves in a one-to-one correspondence.

13. The robot according to claim 6, characterized in that: Along the first direction, a stopper is provided on a side of the clamping portion facing away from the first clamping portion and the second clamping portion; The self-locking member is provided with an elastic member at the upper portion along the third direction; The elastic member can abut against the stopper in a compressed state, so that the clamping portion switches from the fixed state to the movable state; Alternatively, the elastic member can push the self-locking member to move along the third direction toward the engaging groove in a restored state, so that the clamping portion switches from the movable state to the fixed state.

14. A robot assembly, characterized in that: include: The manipulator according to any one of claims 1 to 13; A tray is placed on the sleeve, and the clamping portion, the first clamping portion and the second clamping portion are capable of clamping the tray.

15. The robot assembly according to claim 14, characterized in that: The bottom of the tray is provided with two clamping grooves, each of which extends along the first direction, and the two clamping grooves are arranged at intervals along the second direction; The shape of each of the positioning grooves is adapted to the shape of the sleeve, and each of the positioning grooves is concave-convexly matched with one of the sleeves.

16. The robot assembly according to claim 15, characterized in that: Two clamping members are provided on one side of the tray that contacts the first clamping portion and the second clamping portion, and the two clamping members are spaced apart along the second direction; Along the second direction, the first clamping portion can abut against one of the locking members, and the second clamping portion can abut against another of the locking members.

17. The robot assembly according to claim 16, characterized in that: Along the second direction, the two clamping members are located between the first clamping portion and the second clamping portion, or the first clamping portion and the second clamping portion are located between the two clamping members.

18. The robot assembly according to claim 15, characterized in that: Two bottom clamping members are provided at the bottom of the tray, and the two bottom clamping members are spaced apart along the second direction; Along the second direction, the first rotating rod can abut against one of the bottom locking members, and the second rotating rod can abut against another of the bottom locking members.

19. The robot assembly according to claim 18, characterized in that: Along the second direction, the two bottom retaining members are located between the two sleeves, or the two sleeves are located between the two bottom retaining members.

20. A palletizing robot, characterized in that: Including robotic arms; A driving unit, fixed to the mechanical arm; The manipulator according to any one of claims 1 to 13 is connected to the driving unit, and the driving unit is capable of driving the first rotating rod and the second rotating rod to rotate.

21. The palletizing robot according to claim 20, characterized in that: The driving unit comprises: case; A first motor is disposed in the housing, the first motor is connected to the first rotating rod, and the first motor can drive the first rotating rod to rotate; A second motor is disposed in the housing, the second motor is connected to the second rotating rod, and the second motor can drive the second rotating rod to rotate; A portion of the first rotating rod is located in the housing, and a portion of the second rotating rod is located in the housing.

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