Clamping mechanism and transfer robot

Abstract

The utility model provides a clamping mechanism and a transfer robot, and relates to the workpiece transfer technology.The clamping mechanism comprises a supporting piece and two clamping arms, and the two clamping arms are symmetrically arranged on the supporting piece; the clamping arm comprises a connecting piece, a clamping frame and a clamping plate, the connecting piece is hinged to the supporting piece, the clamping frame is hinged to the connecting piece, and the clamping plate is arranged on the clamping frame; the clamping frames in the two clamping arms are hinged to each other, the two clamping plates are arranged in a spaced mode so that the distance between the two clamping plates can be changed when the two clamping frames rotate relatively, and a locking assembly is arranged between at least one clamping frame and the supporting piece and used for limiting the clamping frame to move in the direction away from the supporting piece. According to the clamping mechanism, the workpiece can be clamped conveniently, the workpiece can be carried conveniently, and the construction efficiency and the operation safety are improved.

Description

Technical Field

[0001] The present application relates to workpiece handling technology, and in particular to a clamping mechanism and a handling robot. Background Art

[0002] Drainage channels will be set up on both sides of urban roads for the discharge of domestic sewage, industrial wastewater and rainwater. During the construction of the drainage channels, it is necessary to first dig trenches on both sides of the road, and then lay stone slabs on the top of the trenches.

[0003] Among them, usually several construction workers work together to manually carry the stone slabs to the installation position of the trench. Because the stone slabs are heavy and the gaps between the stacked stone slabs are tight, there are fewer stress points, and it is difficult for the construction workers to lift the stone slabs from the ground and the stone slab pile, resulting in slow construction efficiency, high labor intensity of the construction workers and safety risks during transportation. Utility Model Content

[0004] The present application provides a clamping mechanism and a handling robot to improve the construction efficiency of construction personnel, reduce labor intensity and improve safety.

[0005] In a first aspect, the present application provides a clamping mechanism, comprising a support member and a clamping arm, wherein the number of the clamping arms is two and the clamping arms are symmetrically arranged on the support member;

[0006] The clamping arm comprises a connecting member, a clamping frame and a clamping plate, wherein the connecting member is hinged to the supporting member, the clamping frame is hinged to the connecting member, and the clamping plate is arranged on the clamping frame;

[0007] Among them, the clamping frames in the two clamping arms are hinged to each other, and the two clamping plates are arranged at intervals so that the distance between the two clamping plates can be changed when the two clamping frames rotate relative to each other, and a locking assembly is provided between at least one of the clamping frames and the support member to limit the movement of the clamping frame in a direction away from the support member.

[0008] In some embodiments, the locking assembly includes:

[0009] A support rod rotatably disposed on the support member;

[0010] A locking rod, arranged on the support rod, and having an extending direction that is non-parallel to the extending direction of the support rod;

[0011] Among them, the clamping frame is provided with a cavity and a separation groove connected to the cavity, and the locking rod has a disengagement position parallel to the extension direction of the separation groove and can pass through the separation groove, and a locking position located in the cavity and non-parallel to the extension direction of the separation groove.

[0012] In some embodiments, the locking assembly further includes a driving component, which is disposed on the support member or the clamping frame and is used to drive the support rod to rotate.

[0013] In some embodiments, the driving component includes:

[0014] A supporting sleeve, arranged on the supporting member;

[0015] A locking ring, arranged inside the supporting sleeve, with at least one locking groove arranged on the top thereof;

[0016] A guide ring is arranged inside the support sleeve and above the locking ring, and is provided with at least one guide groove on a side facing the locking ring;

[0017] Among them, at least part of the support rod is inserted into the support sleeve, and a driving rod is provided. The driving rod is located between the locking ring and the guide ring, and can move along the axial direction of the support rod relative to the support sleeve with the support rod to move between the guide groove and the locking groove, and drive the support rod to rotate during the movement.

[0018] In some embodiments, the clamping frame is provided with an adjustment assembly, and the adjustment assembly comprises:

[0019] An adjusting rod, slidably disposed on the clamping frame;

[0020] A locking member, disposed on the clamping frame, for limiting the movement of the adjusting rod;

[0021] Wherein, the clamping plate is arranged on the adjusting rod.

[0022] In some embodiments, the splint is provided with a positioning rod.

[0023] In a second aspect, the present application further provides a handling robot, comprising the clamping mechanism described in the first aspect and any one of its embodiments.

[0024] In some embodiments, the transport robot further includes a vehicle body and a support mechanism disposed on the vehicle body, and the clamping mechanism is disposed on the support mechanism.

[0025] In some embodiments, the support mechanism comprises:

[0026] A first support frame, arranged on the vehicle body;

[0027] A second support frame, disposed on the first support frame and movable along a first direction relative to the first support frame;

[0028] A third support frame, disposed on the second support frame and movable along a second direction relative to the second support frame;

[0029] Wherein, the clamping mechanism is arranged on the third support frame, and can slide along a third direction relative to the third support frame, and the first direction, the second direction and the third direction are arranged non-parallel.

[0030] In some embodiments, the handling robot further includes a positioning component, including:

[0031] A laser fixing frame, arranged on the supporting structure;

[0032] The laser emitter is arranged on the laser fixing frame and is used for irradiating the positioning mark in the direction of the clamping mechanism.

[0033] In the clamping mechanism and handling robot provided by the present application, the clamping mechanism drives two clamping plates to clamp the workpiece through the relative movement of the support and the clamping arm, and the locking assembly provided between the support and the clamping arm can realize automatic control of the locking or unlocking of the support and the clamping arm. The structure is simple and reliable, and easy to control, so as to facilitate the clamping and handling of the workpiece, thereby improving the construction efficiency and the safety of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0035] Figure 1 is a structural schematic diagram of the clamping mechanism in an embodiment of the present application;

[0036] Figure 2 is a partial cross-sectional view of the clamping mechanism in an embodiment of the present application;

[0037] Figure 3 is a partial cross-sectional view of another state of the clamping mechanism in the embodiment of the present application;

[0038] Figure 4 This is a schematic diagram of the structure of the transport robot in the embodiment of the present application;

[0039] Figure 5 yes Figure 4 Enlarged view of part A.

[0040] Description of reference numerals:

[0041] 100-clamping mechanism; 110-support member; 120-connecting member; 130-clamping frame; 131-adjusting slot; 132-separation slot; 140-clamping plate; 150-guide rod; 160-positioning rod; 170-locking assembly; 171-support rod; 172-locking rod; 173-support sleeve; 174-locking ring; 1741-locking slot; 175-guide ring; 1751-guide slot; 176-driving rod; 180-adjusting assembly; 181-adjusting rod; 1811-fixing hole; 182-bolt member;

[0042] 200-car body; 201-travel wheel;

[0043] 300-support mechanism; 310-first support frame; 320-second support frame; 330-third support frame; 340-first drive assembly; 350-second drive assembly; 360-third drive assembly;

[0044] 400-positioning assembly; 410-laser fixing frame; 411-direction adjustment rod; 412-fixing part; 420-laser transmitter.

[0045] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0046] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0047] The embodiment of the present application discloses a clamping mechanism that can clamp flat workpieces such as stone slabs and is used for transporting stone slabs to improve the transport efficiency.

[0048] Reference Figure 1The clamping mechanism 100 includes a support member 110 and a clamping arm. The number of the clamping arms is two and they are symmetrically arranged on the support member 110. The clamping arm includes a connecting member 120, a clamping frame 130 and a clamping plate 140. The connecting member 120 is hinged to the support member 110, the clamping frame 130 is hinged to the connecting member 120, and the clamping plate 140 is arranged on the clamping frame 130. The clamping frames 130 in the two clamping arms are hinged to each other, and the two clamping plates 140 are arranged at intervals so that the interval between the two clamping frames 130 changes when the two clamping frames 130 rotate relative to each other, and a locking assembly 170 is arranged between at least one clamping frame 130 and the support member 110, which is used to limit the clamping frame 130 from moving in a direction away from the support member 110.

[0049] The support member 110 is used to play an overall supporting role. The structure of the support member 110 can be adapted based on the actual connection mode of the clamping arms. For example, the support member 110 is a horizontally arranged square tube. The two clamping arms can be symmetrically arranged at both ends of the support member 110 and located below the support member 110.

[0050] The connecting member 120 in the clamping arm can be a rod-shaped structure, which is obliquely arranged between the support member 110 and the clamping frame 130, one end of which can be hinged to the end of the support member 110 through a pin, and the other end extends downward so as to be able to rotate relative to the support member 110. The clamping frame 130 can also be hinged to the bottom end of the connecting member 120 through a pin so as to be able to rotate relative to the support member 110. The two clamping frames 130 are arranged alternately with each other, so that there is an overlap between the two clamping frames 130, and the overlap of the two clamping frames 130 is hinged to each other through the hinge shaft, and each clamping plate 140 is respectively arranged at one end of each clamping frame 130 away from the connecting member 120, so that the two clamping plates 140 are arranged at intervals. In addition, the hinge shaft can be provided with a vertical guide rod 150 connected and matched with the support member 110 to ensure symmetrical movement of the clamping arms on both sides.

[0051] The structure of the clamping frame 130 can be set based on actual usage requirements. For example, the clamping frame 130 is composed of two horizontal rectangular tubes and an inclined rod arranged between the two horizontal rectangular tubes. The two inclined rods are staggered and hinged through a hinge shaft to achieve relative rotation of the two clamping frames 130.

[0052] One or more locking assemblies 170 may be provided, so that at least one clamping frame 130 and the support member 110 are provided with a locking assembly 170 to limit the displacement of the clamping frame 130 relative to the support member 110, and at this time, the distance between the two clamping plates 140 is relatively large. When the restriction of the clamping frame 130 by the locking assembly 170 is cancelled, the clamping frame 130 may move downward under the action of gravity, so that the two clamping frames 130 rotate relative to each other, and the two clamping plates 140 also move toward the direction of approaching each other, thereby realizing the clamping action of the two clamping plates 140.

[0053] Taking workpieces such as stone slabs as an example, when clamping the workpiece, the clamping mechanism 100 of this embodiment places two clamping plates 140 on both sides of the workpiece, and cancels the restriction of the locking assembly 170 on the clamping frame 130, so that the two clamping plates 140 move relative to each other and clamp on the opposite sides of the workpiece, and in the process of using the clamping mechanism 100 to drive the workpiece to move upward, the two clamping frames 130 deflect downward under the action of gravity, so that the clamping plates 140 maintain the clamping action on the workpiece.

[0054] After the workpiece is transported to the construction site, the clamping mechanism 100 drives the workpiece to move downward and place the workpiece in the use position. After the workpiece is fixed, the clamping mechanism 100 continues to be lowered, and the support member 110 moves downward relative to the clamping plate 140, and drives the clamping frame 130 to rotate in the opposite direction, so that the two clamping plates 140 are automatically opened, and then the clamping frame 130 is re-restricted by the locking assembly 170, so that the clamping frame 130 and the support member 110 are relatively fixed, and the clamping mechanism 100 can be removed from the workpiece. The clamping mechanism 100 of this embodiment can clamp stone slabs placed on the ground or piled up, and can cooperate with equipment such as a transport vehicle to realize the transportation of the workpiece, so as to reduce the labor intensity of construction personnel and improve construction efficiency and operation safety.

[0055] Reference Figure 2 and Figure 3 In some embodiments, the locking assembly 170 includes a support rod 171 and a locking rod 172. The support rod 171 is rotatably disposed on the support member 110, and the locking rod 172 is disposed on the support rod 171, and the extension direction is non-parallel to the extension direction of the support rod 171. The clamping frame 130 is provided with a cavity and a separation groove 132 connected to the cavity. The locking rod 172 has a disengagement position parallel to the extension direction of the separation groove 132 and can pass through the separation groove 132, and a locking position located in the cavity and non-parallel to the extension direction of the separation groove 132.

[0056] Among them, the support rod 171 can be vertically arranged between the support member 110 and the clamping frame 130, and can rotate around its own axis relative to the support member 110. The locking rod 172 can be arranged on the side of the support rod 171 close to the clamping frame 130, and the extension direction of the locking rod 172 is perpendicular to the extension direction of the support rod 171.

[0057] The clamping frame 130 is made of a rectangular tube to form a cavity of the clamping frame 130, and a separation groove 132 is set on the side of the clamping frame 130 facing the support member 110. The separation groove 132 can be opened along the extension direction of the clamping frame 130, so that the support rod 171 and the locking rod 172 can pass through the separation groove 132 and extend into the cavity of the clamping frame 130.

[0058] When the locking assembly 170 restricts the clamping frame 130, the locking rod 172 is located in the cavity and in the locking position. At this time, the extension direction of the locking rod 172 is not parallel to the extension direction of the separation groove 132, and the locking rod 172 abuts against the top side wall of the cavity to limit the movement of the clamping frame 130. By controlling the support rod 171 to rotate, the locking rod 172 moves to the disengagement position. At this time, the locking rod 172 is parallel to the extension direction of the separation groove 132 and can be disengaged from the separation groove 132, so that the clamping frame 130 is no longer restricted by the locking rod 172 and can move downward to achieve the clamping action of the two clamping plates 140.

[0059] In some embodiments, the locking assembly 170 further includes a driving component, which is disposed on the support member 110 or the clamping frame 130 and is used to drive the support rod 171 to rotate. The driving component can be manually controlled, electrically controlled, or pneumatically controlled to drive the support rod 171 to rotate.

[0060] Exemplarily, the driving component may include: a support sleeve 173, a locking ring 174, and a guide ring 175. The support sleeve 173 is disposed on the support member 110, the locking ring 174 is disposed inside the support sleeve 173, and at least one locking groove 1741 is disposed on the top of the locking ring 174. The guide ring 175 is disposed inside the support sleeve 173 and above the locking ring 174, and at least one guide groove 1751 is disposed on the side of the guide ring 175 facing the locking ring 174. At least part of the support rod 171 is inserted into the support sleeve 173, and a driving rod 176 is provided. The driving rod 176 is located between the locking ring 174 and the guide ring 175, and can move along the axial direction of the support rod 171 relative to the support sleeve 173 with the support rod 171, so as to move between the guide groove 1751 and the locking groove 1741, and drive the support rod 171 to rotate during the movement.

[0061] Reference Figure 2 and Figure 3 , there are four locking grooves 1741 and they are arranged in an array on the locking ring 174, one of the side walls of the locking groove 1741 is vertical, and the other opposite side wall is inclined. There are also four guide grooves 1751 and they are arranged in an array on the guide ring 175, and one of the side walls of the guide groove 1751 is vertical, and the other opposite side wall is inclined. Among them, the guide groove 1751 and the locking groove 1741 are staggered, so that the opening of the locking groove 1741 is opposite to the inclined side wall of the guide groove 1751, and the opening of the guide groove 1751 is opposite to the inclined side wall of the locking groove 1741. When the locking rod 172 is in the locking position, the support member 110 is relatively parallel to the clamping frame 130, and the driving rod 176 is embedded in the driving groove 1741.

[0062] When in use, after the two clamping plates 140 are placed on the opposite sides of the workpiece, the bottom of the clamping frame 130 contacts the surface of the workpiece, and then the support member 110 is lifted upward, so that the support rod 171 moves downward relative to the support sleeve 173. At this time, the driving rod 176 is downward along the vertical side wall of the guide groove 1751 and abuts against the inclined side wall of the locking groove 1741, and moves toward the bottom of the locking groove 1741 with the movement of the support sleeve 173, and drives the support rod 171 to rotate a corresponding angle. At this time, the support rod 171 drives the locking rod 172 to rotate from the locking position to the disengaged position. At the same time, the driving rod 176 is restricted by the locking ring 174, so that the support rod 171 moves upward with the support member 110, and the locking rod 172 disengages from the clamping frame 130, canceling the restriction on the clamping frame 130, so that the clamping frame 130 rotates around the hinge axis as the support member 110 moves upward, so that the two clamping plates 140 perform the clamping action on the workpiece.

[0063] On the contrary, after the workpiece is lowered to the use position, the support member 110 first approaches the clamping frame 130, driving the locking rod 172 to pass through the locking groove 1741 and enter the inner side of the clamping frame 130, and then uses the coordinated action of the guide groove 1751, the locking groove 1741 and the driving rod 176 to rotate the locking rod 172 to the locking position, thereby limiting and locking the clamping frame 130.

[0064] In this way, the rotation of the support rod 171 is realized without using additional electronic control components, the structure is reliable and stable, easy to control and use, and the use cost is reduced. The specific number and distribution position of the locking groove 1741 and the guide groove 1751 can be set based on the angle of each rotation of the locking rod 172.

[0065] In some embodiments, the clamping frame 130 may be provided with an adjustment assembly 180, which includes an adjustment rod 181 and a locking member, wherein the adjustment rod 181 is slidably provided on the support frame, and the locking member is provided on the clamping frame 130 to limit the movement of the adjustment rod 181. The clamping plate 140 is provided on the adjustment rod 181.

[0066] Reference Figure 1 The end of the clamping frame 130 away from the connecting piece 120 is made of a rectangular tube, so that an adjustment groove 131 is formed at the end of the clamping frame 130, and the adjustment rod 181 can be inserted into the adjustment groove 131. By extending and retracting the adjustment rod 181 in the adjustment groove 131, the relative position of the clamping plate 140 and the clamping frame 130 is changed, so that the clamping mechanism 100 can be suitable for workpieces of different sizes.

[0067] The locking member can be a bolt member 182, the adjustment rod 181 is provided with a plurality of fixing holes 1811, the clamping frame 130 is provided with a connecting hole, and the bolt member 182 is passed through the connecting hole and the fixing hole 1811 to fix the relative position of the adjustment rod 181 and the clamping frame 130. And according to the different specifications and sizes of the workpiece, the fixing holes 1811 or connecting holes with corresponding spacings can be preset on the adjustment member or the clamping frame 130, so that the clamping plate 140 can be quickly adjusted to the corresponding position according to the specifications of the workpiece.

[0068] In some embodiments, the clamping plate 140 may be provided with a positioning rod 160 .

[0069] Among them, the positioning rod 160 can be circular, and the extension direction of the positioning rod 160 is parallel to the extension direction of the workpiece when the clamp 140 clamps the workpiece. The positioning rod 160 can be welded to the top of the clamp 140. When the clamp 140 clamps the workpiece, the positioning rod 160 is against the upper surface of the workpiece, so as to maintain the horizontal posture of the workpiece during transportation and improve the stability of the position during transportation.

[0070] The clamping mechanism 100 in this embodiment controls the relative locking and relative movement of the support member 110 and the clamping frame 130 through the locking assembly 170, and can use the gravity of the clamping mechanism 100 itself to drive the two clamping plates 140 to clamp and open the workpiece. It has a simple and reliable structure and is easy to control and use. It can be used for clamping workpieces on the ground or stacked slabs of stone, and can cooperate with a transport vehicle to transport the workpiece, so as to improve construction efficiency and work safety.

[0071] Reference Figure 5 Based on the above-mentioned clamping mechanism 100, this embodiment further provides a handling robot, including the above-mentioned clamping mechanism 100. The handling robot can be used for handling workpieces such as stone slabs. For example, the handling robot is used to lay stone slabs on the upper part of the drainage channel to reduce the labor intensity and safety hazards of workers during the construction process and improve construction efficiency.

[0072] In some embodiments, the transport robot may include a vehicle body 200 and a support mechanism 300 disposed on the vehicle body 200 , and the clamping mechanism 100 is disposed on the support mechanism 300 .

[0073] Among them, walking wheels 201 can be set at the bottom of the vehicle body 200, so that the vehicle body 200 can move on the ground, and the clamping mechanism 100 can be driven to move through the supporting mechanism 300, the clamping mechanism 100 clamps the stone slab, and the vehicle body 200 is used to transfer the stone slab to the use position.

[0074] The support mechanism 300 may include a first support frame 310, a second support frame 320 and a third support member 110. The first support frame 310 is disposed on the vehicle body 200. The second support frame 320 is disposed on the first support frame 310 and can move along a first direction relative to the first support frame 310. The third support frame 330 is disposed on the second support frame 320 and can move along a second direction relative to the second support frame 320. The clamping mechanism 100 is disposed on the third support frame 330 and can slide along a third direction relative to the third support member 110. The first direction, the second direction and the third direction are non-parallel.

[0075] Exemplarily, the first direction is a vertical direction, and the second direction and the third direction are both horizontal directions and perpendicular to each other.

[0076] The first support frame 310 can be vertically arranged on the vehicle body 200, and the second support frame 320 is horizontally arranged on one side of the first support frame 310. The second support frame 320 is slidably connected to the first support frame 310 through a guide rail structure, so that the second support frame 320 can slide vertically relative to the first support frame 310. The third support frame 330 is slidably connected to the second support frame 320 through a guide rail structure, so that the third support frame 330 can slide horizontally relative to the second support frame 320. The support member 110 in the clamping mechanism 100 can be connected to the third support frame 330 through a guide rail or a pulley structure, so that the clamping mechanism 100 can slide relative to the third support frame 330.

[0077] In actual use, the first support frame 310 may be provided with a first driving assembly 340, which is connected to the second support frame 320 to drive the second support frame 320 to perform a lifting action. The second support frame 320 may be provided with a second driving assembly 350, which is connected to the third support frame 330 to drive the third support frame 330 to perform a horizontal sliding action. The third support frame 330 may be provided with a third driving assembly 360 to drive the clamping mechanism 100 to slide.

[0078] In this way, during the transportation process, the relative sliding of the second support frame 320, the third support frame 330 and the clamping mechanism 100 can be utilized to adjust the relative position of the clamping mechanism 100 and the vehicle body 200. On the one hand, the lifting and lowering action of the clamping mechanism 100 can be realized, and the automatic clamping and automatic opening action of the clamping plate 140 can be realized. On the other hand, the position of the clamping mechanism 100 can be adjusted according to construction requirements to facilitate the transportation action.

[0079] Among them, the first drive component 340, the second drive component 350 and the third drive component 360 can be hydraulically or pneumatically driven, or chain driven, belt driven and other structures. This embodiment does not impose too many restrictions on this and can be adapted to the actual needs.

[0080] In some embodiments, the handling robot may further include a positioning assembly 400 , including a laser fixture 410 and a laser emitter 420 . The laser fixture 410 is disposed on the support mechanism 300 , and the laser emitter 420 is disposed on the laser fixture 410 for irradiating a positioning mark in the direction of the clamping mechanism 100 .

[0081] Reference Figure 5 The laser fixing frame 410 may include a fixing rod 411 and a fixing member 412. One end of the fixing rod 411 is fixed to the third support frame 330. The fixing member 412 can be mounted on the fixing rod 411 through a connecting hole and movably connected to the fixing rod 411. The laser emitter 420 is fixed to the fixing member 412.

[0082] When in use, the laser emitter 420 emits laser in the direction of the clamping mechanism 100 to project a laser point onto the surface of the workpiece to form a positioning mark. During construction, the relative position of the positioning mark and the workpiece can be used to ensure that the clamping plate 140 is relative to the workpiece, further improving the position accuracy of the clamping plate 140 and the workpiece. In addition, the fixing member 412 can be moved relative to the fixing rod 411 to adjust the direction and position of the laser emitter 420, and adjust the irradiation position of the positioning mark according to different workpieces.

[0083] In summary, the transport robot provided in the embodiment of the present application can adjust the relative position of the clamping mechanism 100 according to the workpiece through the relative movement of the second support frame 320, the third support frame 330 and the clamping mechanism 100, and cooperate with the positioning mark irradiated by the laser emitter 420 to accurately clamp the workpiece and transport the workpiece to the use position, thereby speeding up construction efficiency and improving operation safety.

[0084] The embodiments of the present application are described in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and its core idea of ​​the present application. At the same time, changes or deformations made by those skilled in the art based on the ideas of the present application, the specific implementation methods and the scope of application of the present application, all belong to the scope of protection of the present application. In summary, the content of this specification should not be construed as a limitation on the present application.

Claims

1. A clamping mechanism, characterized in that: It comprises a support member and a clamping arm, wherein the number of the clamping arms is two and they are symmetrically arranged on the support member; The clamping arm comprises a connecting member, a clamping frame and a clamping plate, wherein the connecting member is hinged to the supporting member, the clamping frame is hinged to the connecting member, and the clamping plate is arranged on the clamping frame; Among them, the clamping frames in the two clamping arms are hinged to each other, and the two clamping plates are arranged at intervals so that the distance between the two clamping plates can be changed when the two clamping frames rotate relative to each other, and a locking assembly is provided between at least one of the clamping frames and the support member to limit the movement of the clamping frame in a direction away from the support member.

2. The clamping mechanism according to claim 1, characterized in that: The locking assembly comprises: A support rod rotatably disposed on the support member; A locking rod, arranged on the support rod, and having an extending direction that is non-parallel to the extending direction of the support rod; Among them, the clamping frame is provided with a cavity and a separation groove connected to the cavity, and the locking rod has a disengagement position parallel to the extension direction of the separation groove and can pass through the separation groove, and a locking position located in the cavity and non-parallel to the extension direction of the separation groove.

3. The clamping mechanism according to claim 2, characterized in that: The locking assembly also includes a driving component, which is arranged on the supporting member or the clamping frame and is used to drive the supporting rod to rotate.

4. The clamping mechanism according to claim 3, characterized in that: The driving component comprises: A supporting sleeve, arranged on the supporting member; A locking ring, arranged inside the supporting sleeve, with at least one locking groove arranged on the top thereof; A guide ring is arranged inside the support sleeve and above the locking ring, and is provided with at least one guide groove on a side facing the locking ring; Among them, at least part of the support rod is inserted into the support sleeve, and a driving rod is provided. The driving rod is located between the locking ring and the guide ring, and can move along the axial direction of the support rod relative to the support sleeve with the support rod to move between the guide groove and the locking groove, and drive the support rod to rotate during the movement.

5. The clamping mechanism according to any one of claims 1 to 4, characterized in that: The clamping frame is provided with an adjustment component, and the adjustment component comprises: An adjusting rod, slidably disposed on the clamping frame; A locking member, disposed on the clamping frame, for limiting the movement of the adjusting rod; Wherein, the clamping plate is arranged on the adjusting rod.

6. The clamping mechanism according to any one of claims 1 to 4, characterized in that: The clamping plate is provided with a positioning rod.

7. A transport robot, characterized in that: The invention comprises the clamping mechanism described in any one of claims 1 to 5.

8. The handling robot according to claim 7, characterized in that: Also includes: Vehicle body; A supporting mechanism, arranged on the vehicle body; Wherein, the clamping mechanism is arranged on the supporting mechanism.

9. The handling robot according to claim 8, characterized in that: The supporting mechanism comprises: A first support frame, arranged on the vehicle body; A second support frame, disposed on the first support frame and movable along a first direction relative to the first support frame; A third support frame, disposed on the second support frame and movable along a second direction relative to the second support frame; Wherein, the clamping mechanism is arranged on the third support frame, and can slide along a third direction relative to the third support frame, and the first direction, the second direction and the third direction are arranged non-parallel.

10. The handling robot according to claim 8, characterized in that: Also included are positioning components, including: A laser fixing frame, arranged on the supporting mechanism; The laser emitter is arranged on the laser fixing frame and is used for irradiating the positioning mark in the direction of the clamping mechanism.

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