Clamping carrying mechanism and robot

Abstract

The utility model provides a clamping carrying mechanism and robot, the clamping carrying mechanism comprises a fixed part, a pressing part, a bearing part, an elastic part and a driving assembly, the two ends of the elastic part are respectively connected with the fixed part and the pressing part, so that the pressing part can move along the telescopic direction of the elastic part, and the driving assembly is connected with the bearing part. The pressing piece is used for pressing the first pressing face, the bearing piece is rotationally connected with the fixing piece, the driving assembly is used for driving the bearing piece to rotate, and the bearing piece is used for abutting against the second pressing face. According to the clamping carrying mechanism and the robot, the box body can be more stable in the carrying process, the position of the pressing piece can be adjusted through stretching and retracting of the elastic piece, and the clamping carrying mechanism and the robot are suitable for carrying box bodies of different sizes.

Description

Technical Field

[0001] The utility model belongs to the technical field of intelligent equipment, and more specifically, relates to a clamping and transporting mechanism and a robot. Background Art

[0002] With China vigorously promoting the development of new productivity, especially humanoid robots, humanoid robots are entering a period of rapid growth. Some are beginning to enter industrial fields such as automotive manufacturing, replacing humans in high-intensity, high-risk, and highly repetitive tasks. Compared to traditional industrial robotic arms or composite robots, humanoid robots are more suitable for unstructured industrial scenarios. Bin handling in workshops is one such application.

[0003] Because bipedal humanoid robots cannot maintain the same smooth motion as humans during walking, especially when the center of gravity of a box is offset, the box will swing violently while being moved, affecting the robot's gait and risking the contents being scattered. Furthermore, boxes come in a variety of sizes, and the end-of-line handling mechanisms of humanoid robots are generally only suitable for boxes of a specific size, resulting in poor compatibility. Utility Model Content

[0004] The purpose of the embodiments of the present utility model is to provide a clamping and transporting mechanism and a robot to solve the technical problems existing in the prior art that the robot can only transport boxes of a specific size and the boxes are prone to violent swinging.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: to provide a clamping and transporting mechanism for clamping a box body, the box body having a first pressing surface and a second pressing surface spaced apart from each other in the vertical direction, the clamping and transporting mechanism including a fixing part, a pressing part, a supporting part, an elastic part and a driving assembly, the two ends of the elastic part are respectively connected to the fixing part and the pressing part, so that the pressing part can move along the extension and contraction direction of the elastic part, the pressing part is used to press on the first pressing surface, the supporting part is rotatably connected to the fixing part, the driving assembly is used to drive the supporting part to rotate, and the supporting part is used to abut against the second pressing surface.

[0006] In the above scheme, the clamping and transporting mechanism includes a fixing member, a pressing member, a supporting member, an elastic member and a driving assembly. The pressing member can move along the expansion and contraction direction of the elastic member, and the supporting member can rotate to abut against the first compression surface of the box body under the drive of the driving assembly. In this way, when transporting the box, the pressing member first contacts the first compression surface of the box body, and then the fixing member and other components move downward, the pressing member remains stationary, the elastic member stretches, and then the driving assembly drives the supporting member to rotate until it abuts against the second compression surface. The box body can be supported by at least two clamping and transporting mechanisms. When supporting the box body, the pressing member and the supporting member abut against the first compression surface and the second compression surface of the box body respectively, which can make the box body more stable during transportation, and the position of the pressing member can be adjusted by the expansion and contraction of the elastic member, which is suitable for transporting boxes of different sizes.

[0007] Optionally, the driving assembly includes a motor, a swinging member and a connecting rod, the motor is fixed to the fixed member, the swinging member is driven to swing by the motor, one end of the connecting rod is rotatably connected to the swinging member, and the other end of the connecting rod is rotatably connected to the supporting member.

[0008] In the above scheme, the rotation of the supporting member is achieved through the setting of the swinging member and the connecting rod, so that the movement path of the supporting member can be from the first position to the second position. There is no need to set an encoder or the like to control the rotation angle of the motor, and the supporting member will not rotate to interfere with other structures of the box.

[0009] Optionally, the supporting member includes a supporting plate and a first hinge portion, the first hinge portion is connected to the bottom of the supporting plate, the first hinge portion is rotatably connected to the connecting rod, and the supporting plate is rotatably connected to the fixing member.

[0010] In the above solution, by providing a first hinge portion at the bottom of the support plate, a certain distance is maintained between the end of the connecting rod close to the first hinge portion and the support plate, thereby avoiding interference between the support plate and the connecting rod during the flipping process.

[0011] Optionally, a guide column is provided on the fixing member, and a guide hole for the guide column to pass through is opened in the pressing member.

[0012] In the above solution, the movement of the pressing member can be guided by the cooperation between the guide column and the guide hole of the pressing member, so that the pressing member can move stably along the extension and contraction direction of the elastic member.

[0013] Optionally, the bottom end of the guide column is fixedly connected to the fixing member, and a limiting plate is fixed to the top end of the guide column, and the limiting plate is used to prevent the pressing member from separating from the guide column.

[0014] In the above solution, the movement stroke of the pressing member can be limited by the provision of the limiting piece, thereby preventing the pressing member from falling off the guide post.

[0015] Optionally, the fixing member includes a fixing plate, a guide block, a mounting block and a mounting column, the fixing plate has a side facing the box body, the guide block, the mounting block and the mounting column are all connected to the side of the fixing plate facing away from the box body, the guide block is provided with a mounting hole for the guide column to extend into, the motor of the drive assembly is fixed to the mounting block, and one end of the elastic member is connected to the mounting column.

[0016] In the above solution, by arranging the guide block, the mounting block and the mounting column on the fixed plate, the guide column, the motor and the elastic member can all be mounted on the fixed member, making the structure of the clamping and transporting mechanism more compact and the layout more reasonable.

[0017] Optionally, the guide block and the mounting block are spaced apart to form a space for accommodating the elastic member, and the mounting column is disposed between the guide block and the mounting block.

[0018] In the above solution, by spacing the guide block and the mounting block, a space is formed to accommodate the elastic member. In this way, the structure of the fixing member can be made more compact, and the two sides of the elastic member are respectively shielded by the guide block and the mounting block to protect and shield the elastic member.

[0019] Optionally, a mounting groove is provided on the mounting column, and one end of the elastic member is hung in the mounting groove; the pressing member has a hanging portion, and the other end of the elastic member is hung on the hanging portion.

[0020] Optionally, a second hinge portion is provided on the bottom side of the fixing plate and protrudes downward, and the second hinge portion is rotatably connected to the supporting member.

[0021] In the above solution, by arranging the second hinge portion on the bottom side of the fixing plate, a certain distance is provided between the fixing plate and the supporting member, thereby preventing the supporting member from interfering with the fixing plate during rotation.

[0022] The utility model also provides a robot, comprising a robot body, two mechanical arms connected to the robot body, and two of the above-mentioned clamping and transporting mechanisms, wherein the two clamping and transporting mechanisms are respectively connected to the ends of the two mechanical arms.

[0023] In the above scheme, the clamping and transporting mechanism includes a fixing member, a pressing member, a supporting member, an elastic member and a driving assembly. The pressing member can move along the expansion and contraction direction of the elastic member, and the supporting member can rotate to abut against the first compression surface of the box body under the drive of the driving assembly. In this way, when transporting the box, the pressing member first contacts the first compression surface of the box body, and then the fixing member and other components move downward, the pressing member remains stationary, the elastic member stretches, and then the driving assembly drives the supporting member to rotate until it abuts against the second compression surface. The box body can be supported by at least two clamping and transporting mechanisms. When supporting the box body, the pressing member and the supporting member abut against the first compression surface and the second compression surface of the box body respectively, which can make the box body more stable during transportation, and the position of the pressing member can be adjusted by the expansion and contraction of the elastic member, which is suitable for transporting boxes of different sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 A schematic diagram of the structure of the clamping and carrying mechanism provided by an embodiment of the present utility model when carrying a box;

[0026] Figure 2 A three-dimensional structural diagram of the clamping and transporting mechanism provided in an embodiment of the present utility model in an open state;

[0027] Figure 3 A three-dimensional structural diagram of the clamping and transporting mechanism provided in an embodiment of the present utility model in a clamping state;

[0028] Figure 4 This is a diagram showing the coordination between the clamping and carrying mechanism provided by an embodiment of the present invention and the box body in the open state;

[0029] Figure 5 This is a diagram showing the coordination between the clamping and transporting mechanism provided by an embodiment of the present invention and the box body in the clamping state;

[0030] Figure 6 A three-dimensional structural diagram of a fixing member provided in an embodiment of the present utility model;

[0031] Figure 7 A three-dimensional structural diagram of the clamping and transporting mechanism and the robotic arm provided in an embodiment of the present utility model;

[0032] Figure 8 This is a three-dimensional structural diagram of the robot provided in an embodiment of the present utility model.

[0033] Among them, the reference numerals in the figures are:

[0034] 100-clamping and carrying mechanism; 10-fixing part; 11-fixing plate; 12-guide block; 120-mounting hole; 13-mounting block; 14-mounting column; 141-mounting groove; 15-second hinge part; 151-third hinge hole; 20-pressing part; 21-guide hole; 30-elastic part; 40-guide column; 41-limiting plate; 50-supporting part; 51-supporting plate; 52-first hinge part; 60-driving assembly; 61-motor; 62-swinging part; 63-connecting rod; 70-mounting plate; 200-box; 201-first pressing surface; 202-second pressing surface; 203-hand-clasp position; 300-six-dimensional force sensor; 400-robotic arm; 500-robot body. DETAILED DESCRIPTION

[0035] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0036] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0037] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention 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 present invention.

[0038] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of this utility model, "plurality" means two or more, unless otherwise specifically defined.

[0039] With China vigorously promoting the development of new productivity, especially humanoid robots, humanoid robots are entering a period of rapid growth. Some are beginning to enter industrial fields such as automotive manufacturing, replacing humans in high-intensity, high-risk, and highly repetitive tasks. Compared to traditional industrial robotic arms or composite robots, humanoid robots are more suitable for unstructured industrial scenarios. Bin handling in workshops is one such application.

[0040] Because bipedal humanoid robots cannot maintain the same smooth motion as humans during walking, especially when the center of gravity of a box is offset, the box will swing violently while being moved, affecting the robot's gait and risking the contents being scattered. Furthermore, boxes come in a variety of sizes, and the end-of-line handling mechanisms of humanoid robots are generally only suitable for boxes of a specific size, resulting in poor compatibility.

[0041] To address the aforementioned technical issues, the present invention provides a clamping and carrying mechanism 100, a clamping and carrying method, and a robot. The clamping and carrying mechanism 100 comprises a first pressing surface 201 and a second pressing surface 202 of a box 200, respectively, contacted by a pressing member 20 and a supporting member 50. The pressing member 20 is movable in the direction of expansion and contraction of an elastic member 30. When carrying a box, the pressing member 20 first contacts the first pressing surface 201 of the box 200. Then, the fixing member 10 and other components move downward, while the pressing member 20 remains stationary. The elastic member 30 stretches. The driving assembly 60 then rotates the supporting member 50 until it contacts the second pressing surface 202. By utilizing at least two clamping and carrying mechanisms 100, the box 200 is supported. This provides greater stability during handling, and the distance between the pressing member 20 and the supporting member 50 can be adjusted by adjusting the elastic member 30's extension length, making it suitable for boxes 200 of various sizes.

[0042] The clamping and transporting mechanism 100 provided in an embodiment of the present invention will now be described. The clamping and transporting mechanism 100 is used to clamp and transport a box 200. The box 200 has a first pressing surface 201 and a second pressing surface 202. The first pressing surface 201 and the second pressing surface 202 are spaced apart in the vertical direction. The first pressing surface 201 can be set higher than the second pressing surface 202. The pressing member 20 of the clamping and transporting mechanism 100 is used to abut the first pressing surface 201, and the supporting member 50 is used to abut (support) the second pressing surface 202. By having at least two clamping and transporting mechanisms 100 act on the pressing surfaces at different positions of the box 200, the box 200 can be stably clamped. The first pressing surface 201 and the second pressing surface 202 are both located at the edges of the box 200. In some cases 200, the first pressing surface 201 may be the upper surface of the case 200, and the second pressing surface 202 may be the lower surface of the handle 203 of the case 200. In some cases 200, the edge of the case 200 is provided with a raised skirt, and the first pressing surface 201 and the second pressing surface 202 are the upper and lower surfaces of the skirt, respectively. The first pressing surface 201 and the second pressing surface 202 are the surfaces of the edge of the case 200, and the specific structure in which they are provided is not limited here.

[0043] Please also refer to Figures 1 to 3 The clamping and transporting mechanism 100 includes a fixing member 10, a pressing member 20, a supporting member 50, an elastic member 30 and a driving assembly 60. The clamping and transporting mechanism 100 can be moved as a whole to approach the box body 200 and press the box body 200 to achieve the purpose of transporting the box body 200.

[0044] The fixing member 10 is the main mounting structure of the clamping and transporting mechanism 100. The pressing member 20 and the supporting member 50 can both move relative to the fixing member 10. The fixing member 10 can be a single-piece structure or a multi-piece structure.

[0045] The pressing member 20 is used to press the first pressing surface 201 of the box body 200. The pressing member 20 and the fixing member 10 are connected to each other through the elastic member 30, so that the pressing member 20 can move along the expansion and contraction direction of the elastic member 30, thereby changing the distance between the pressing member 20 and the supporting member 50, so that the clamping and transporting mechanism 100 can be suitable for transporting boxes 200 of various sizes.

[0046] The two ends of the elastic member 30 are respectively connected to the pressing member 20 and the fixing member 10. The connection between the elastic member 30 and the pressing member 20 and the fixing member 10 can be fixed connection, hook connection, etc. The elastic member 30 is a deformable structural member, such as a spring.

[0047] The supporting member 50 is rotatably connected to the fixing member 10, and the supporting member 50 has a first position and a second position. Figure 2As shown, the supporting member 50 is in the first position, the supporting member 50 is in a non-working state, and does not contact the second pressing surface 202. Figure 3 As shown, the supporting member 50 is in the second position, the supporting member 50 is in a working state, and can contact the second pressing surface 202. The supporting member 50 can be switched between the first position and the second position.

[0048] The driving assembly 60 is a power component for driving the supporting member 50 to rotate relative to the fixing member 10. The motion output end of the driving assembly 60 is connected to the supporting member 50, so that the supporting member 50 can be switched between the first position and the second position.

[0049] See also Figure 4 and Figure 5 When clamping the box body 200, the clamping and transporting mechanism 100 moves to the first pressing surface 201 close to the box body 200, and then the pressing member 20 is pressed against the first pressing surface 201, the clamping and transporting mechanism 100 moves downward, the elastic member 30 is stretched, and the supporting member 50 moves to below the second pressing surface 202 (the supporting member 50 is lower than the second pressing surface 202 in the height direction, and in the horizontal direction, the supporting member 50 and the second pressing surface 202 can be staggered or partially opposite to each other), and the driving assembly 60 drives the supporting member 50 to rotate relative to the fixing member 10, so that the supporting member 50 rotates to the second position, and the supporting member 50 abuts against the second pressing surface 202. In this way, the supporting member 50 of the clamping and transporting mechanism 100 is located below the second pressing surface 202, supporting the second pressing surface 202, while the pressing member 20 is located above the first pressing surface 201, pressing the first pressing surface 201, thereby supporting the box 200. The two clamping and transporting mechanisms 100 jointly clamp and support the opposite sides of the box 200, thereby lifting the box 200.

[0050] The clamping and transporting mechanism 100 in the above embodiment includes a fixing member 10, a pressing member 20, a supporting member 50, an elastic member 30, and a driving assembly 60. The pressing member 20 can move along the extension and contraction direction of the elastic member 30, and the supporting member 50 can rotate to abut against the first pressing surface 201 of the box body 200 under the drive of the driving assembly 60. In this way, when transporting a box, the pressing member 20 first contacts the first pressing surface 201 of the box body 200, then the fixing member 10 and other components move downward, the pressing member 20 remains stationary, the elastic member 30 stretches, and then the driving assembly 60 drives the supporting member 50 to rotate until it abuts against the second pressing surface 202. The box body 200 can be supported by at least two clamping and transporting mechanisms 100. When supporting the box body 200, the clamping member 20 and the supporting member 50 respectively abut against the first clamping surface 201 and the second clamping surface 202 of the box body 200, which can make the box body 200 more stable during transportation. Moreover, the position of the clamping member 20 can be adjusted by the expansion and contraction of the elastic member 30, which is suitable for transporting boxes 200 of different sizes.

[0051] In some embodiments of the present invention, the pressing member 20 has a first mating surface that abuts the first pressing surface 201, and the supporting member 50 has a second mating surface that abuts the second pressing surface 202. The first pressing surface 201 and the second pressing surface 202 are parallel to each other and parallel to the horizontal direction, which can ensure a more stable connection between the clamping and transporting mechanism 100 and the box 200. Accordingly, the first mating surface and the second mating surface in the second position are also parallel to each other and arranged horizontally.

[0052] In some embodiments of the present invention, please refer to Figure 2 and Figure 3 The driving assembly 60 includes a motor 61, a swinging member 62, and a connecting rod 63. The motor 61 is fixed to the fixed member 10. The swinging member 62 is driven to swing by the motor 61. One end of the connecting rod 63 is rotationally connected to the swinging member 62, and the other end of the connecting rod 63 is rotationally connected to the supporting member 50. The motor 61, the swinging member 62, and the connecting rod 63 are sequentially connected in a transmission manner. The motor 61 drives the swinging member 62 to swing, and the connecting rod 63 also swings accordingly. The swinging of the connecting rod 63 drives the supporting member 50 to rotate. Among them, the line connecting the output end of the motor 61 and the rotation axis of the supporting member 50, the line connecting the two ends of the swinging member 62, the line connecting the two ends of the connecting rod 63, and the line connecting one end of the connecting rod 63 and the rotation axis of the supporting member 50 form a four-bar mechanism to realize the rotation of the supporting member 50 relative to the fixed member 10.

[0053] By setting the swing member 62 and the connecting rod 63, the rotation of the supporting member 50 is achieved, and the movement path of the supporting member 50 can be made from the first position to the second position. There is no need to set an encoder or the like to control the rotation angle of the motor 61, and the supporting member 50 will not rotate to interfere with other structures of the box body 200.

[0054] In some embodiments, the driving assembly 60 includes a motor 61, the output end of the motor 61 is fixed to the supporting member 50, and the supporting member 50 is directly driven to rotate by the motor 61. In this way, the driving assembly 60 has a simple structure and low cost.

[0055] In some embodiments, see Figure 2 The swing member 62 is in the shape of a teardrop. The larger end of the swing member 62 is fixedly connected to the motion output end of the motor 61. In this way, the connection position between the swing member 62 and the motor 61 can be made larger. The swing member 62 and the motion output end of the motor 61 are connected by multiple screw members arranged in a circumferential direction. The smaller end of the swing member 62 is rotatably connected to the connecting rod 63.

[0056] In some embodiments of the present invention, please refer to Figure 2The supporting member 50 includes a supporting plate 51 and a first hinge portion 52. The first hinge portion 52 is connected to the bottom of the supporting plate 51 and is rotatably connected to the connecting rod 63. The supporting plate 51 is rotatably connected to the fixing member 10. When the connecting rod 63 rotates, the first hinge portion 52 rotates under the drive of the connecting rod 63, and the supporting plate 51 also rotates accordingly. The supporting plate 51 has a second mating surface for abutting the second pressing surface 202. The bottom of the supporting plate 51 is located away from the second mating surface.

[0057] By providing the first hinge portion 52 at the bottom of the supporting plate 51 , a certain distance is maintained between the end of the connecting rod 63 close to the first hinge portion 52 and the supporting plate 51 , thereby preventing interference between the supporting plate 51 and the connecting rod 63 during the flipping process.

[0058] In some embodiments, the supporting plate 51 and the first hinge portion 52 are integrally formed and do not need to be installed with each other. They can be injection molded, which is convenient to process.

[0059] In some embodiments, the connection between the first hinge portion 52 and the support plate 51 is set away from the rotation axis of the support plate 51. In this way, when the first hinge portion 52 rotates, it can effectively drive the support plate 51 to rotate, reducing the driving force required for the support plate 51 to rotate.

[0060] In some embodiments, the first hinge portion 52 is provided with a first hinge hole, and the connecting rod 63 is provided with a second hinge hole. The first hinge portion 52 and the connecting rod 63 are rotatably connected by a hinge shaft passing through the first hinge hole and the second hinge hole.

[0061] In some embodiments of the present invention, please refer to Figure 2 and Figure 6 The fixing member 10 is provided with a guide post 40, and the pressing member 20 is provided with a guide hole 21 for the guide post 40 to pass through. The pressing member 20 moves along the length direction of the guide post 40 under the guidance of the guide post 40, and accordingly, the expansion and contraction direction of the elastic member 30 is the same as the length direction of the guide post 40.

[0062] By the mutual cooperation between the guide column 40 and the guide hole 21 of the pressing member 20 , the movement of the pressing member 20 can be guided, and can stably move along the extension and contraction direction of the elastic member 30 .

[0063] In some embodiments, there are multiple guide posts 40 and correspondingly, there are multiple guide holes 21. Each guide post 40 passes through each guide hole 21 in a one-to-one correspondence, which can make the pressing member 20 more stable during movement.

[0064] In some embodiments of the present invention, please refer to Figure 2 and Figure 6The bottom end of the guide post 40 is fixedly connected to the fixing member 10, and a limit plate 41 is fixed to the top end of the guide post 40. The limit plate 41 is used to prevent the pressing member 20 from separating from the guide post 40. The guide post 40 is fixedly connected to the fixing member 10, and the guide post 40 is a guiding structure for the pressing member 20. The end of the guide post 40 close to the fixing member 10 is the bottom end of the guide post 40, and the end of the guide post 40 away from the fixing member 10 is the top end of the guide post 40. The pressing member 20 has two extreme positions in the vertical direction. The extreme position of the top of the pressing member 20 is determined by the limit plate 41. The position of the limit plate 41 is the extreme position of the top of the pressing member 20.

[0065] By providing the limiting piece 41 , the movement stroke of the pressing member 20 can be limited, thereby preventing the pressing member 20 from falling off the guide post 40 .

[0066] In some embodiments, the cross-section of the guide post 40 is circular, square, or the like, and the guide hole 21 is adapted to the cross-sectional shape of the guide post 40 .

[0067] In some embodiments, the limiting piece 41 is in the shape of a disc, and the outer diameter of the limiting piece 41 is larger than the inner diameter of the guide hole 21 . In this way, the limiting piece 41 can block the pressing piece 20 and prevent the pressing piece 20 from falling off the guide column 40 .

[0068] In some embodiments of the present invention, please refer to Figure 6 The fixing member 10 includes a fixing plate 11, a guide block 12, a mounting block 13, and a mounting post 14. The fixing plate 11 has a side for facing the box body 200. The guide block 12, the mounting block 13, and the mounting post 14 are all connected to the side of the fixing plate 11 facing away from the box body 200. The guide block 12 is provided with a mounting hole 120 for the guide post 40 to extend into. The motor 61 of the drive assembly 60 is fixed to the mounting block 13, and one end of the elastic member 30 is connected to the mounting post 14. The side of the fixing plate 11 facing the box body 200 is spaced apart from the side wall of the box body 200. The side of the fixing plate 11 facing away from the box body 200 has the guide block 12, the mounting block 13, and the mounting post 14. The guide block 12 is used to fix the guide post 40. Specifically, the guide post 40 extends into the mounting hole 120. The mounting block 13 is used to fix the motor 61 of the drive assembly 60. The mounting post 14 is used to fix the elastic member 30.

[0069] By arranging the guide block 12, the mounting block 13 and the mounting column 14 on the fixing plate 11, the guide column 40, the motor 61 and the elastic member 30 can all be installed on the fixing member 10, making the structure of the clamping and transporting mechanism 100 more compact and the layout more reasonable.

[0070] In some embodiments, a connecting hole is opened at the bottom of the guide block 12, which is connected to the mounting hole 120. The screw member passes through the connecting hole and is connected to the guide column 40 in the mounting hole 120, thereby achieving a fixed connection between the guide block 12 and the guide column 40.

[0071] In some embodiments, when the supporting member 50 is in the first position, the side of the fixing member 10 facing the box body 200 and the side of the supporting member 50 facing the box body 200 are parallel to or overlap with each other. When the supporting member 50 is in the second position, the fixing member 10 faces the same side and the second mating surface of the supporting member 50 is perpendicular to each other.

[0072] In some embodiments of the present invention, please refer to Figure 6 The guide block 12 and the mounting block 13 are spaced apart to form a space for accommodating the elastic member 30 , and the mounting post 14 is disposed between the guide block 12 and the mounting block 13 . The elastic member 30 is disposed between the guide block 12 and the mounting block 13 and is connected to the mounting post 14 .

[0073] By spacing the guide block 12 and the mounting block 13 apart, a space is formed to accommodate the elastic member 30. In this way, the structure of the fixing member 10 can be made more compact. The two sides of the elastic member 30 are respectively shielded by the guide block 12 and the mounting block 13, thereby protecting and shielding the elastic member 30.

[0074] In some embodiments, there are two guide blocks 12 , the mounting block 13 is disposed between the two guide blocks 12 , and mounting columns 14 are disposed between the mounting block 13 and the adjacent guide block 12 , and the number of elastic members 30 is also correspondingly two.

[0075] In some embodiments, the mounting post 14 is provided with a mounting groove 141, and one end of the elastic member 30 is hooked in the mounting groove 141. The pressing member 20 is provided with a hooking portion, and the other end of the elastic member 30 is hooked on the hooking portion.

[0076] In some embodiments of the present invention, please refer to Figure 2 and Figure 6 The bottom side of the fixed plate 11 is provided with a second hinge portion 15 protruding downward, and the second hinge portion 15 is rotatably connected to the supporting member 50. The second hinge portion 15 is connected to the bottom side of the fixed plate 11, and the rotation connection between the fixed plate 11 and the supporting member 50 is achieved through the provision of the second hinge portion 15.

[0077] By providing the second hinge portion 15 on the bottom side of the fixing plate 11 , a certain distance is created between the fixing plate 11 and the supporting member 50 , thereby preventing the supporting member 50 from interfering with the fixing plate 11 during rotation.

[0078] In some embodiments, there are two second hinged portions 15 , and the supporting member 50 can be mounted between the two second hinged portions 15 .

[0079] In some embodiments, the second hinge portion 15 is provided with a third hinge hole 151 , the supporting member 50 is provided with a fourth hinge hole, and the hinge shaft passes through the third hinge hole 151 and the fourth hinge hole to achieve a rotational connection between the supporting member 50 and the fixing member 10 .

[0080] In some embodiments of the present invention, please refer to Figure 2 and Figure 3 The clamping and transporting mechanism 100 also includes a mounting plate 70, which is fixedly connected to the fixing member 10. The mounting plate 70 can be used to connect to the end of the robotic arm 400 to move the entire clamping and transporting mechanism 100 through the robotic arm 400.

[0081] In some embodiments, the mounting plate 70 is fixed to the side wall of the fixing plate 11 without affecting the internal layout of the clamping and transporting mechanism 100 .

[0082] When using the clamping and transporting mechanism 100, the clamping and transporting method includes the following steps:

[0083] S10: The clamping and transporting mechanism 100 moves until the pressing member 20 is pressed against the first pressing surface 201 of the box body 200, and the supporting member 50 is located at the first position;

[0084] S20: The clamping and transporting mechanism 100 moves downward, and the elastic member 30 stretches, so that the rotation axis of the supporting member 50 is lower than the second pressing surface 202 of the box body 200;

[0085] S30 : the driving assembly 60 operates to rotate the supporting member 50 to the second position, and the supporting member 50 abuts against the second pressing surface 202 .

[0086] In the vertical direction, the first pressing surface 201 is higher than the second pressing surface 202. The lower side of the pressing member 20 is pressed against the first pressing surface 201, and the upper side of the supporting member 50 is supported by the second pressing surface 202, thereby supporting the box body 200. In step S20, the clamping and transporting mechanism 100 moves downward, while the position of the pressing member 20 remains unchanged. The distance between the pressing member 20 and the supporting member 50 is changed by the stretching of the elastic member 30. The rotation axis of the supporting member 50 is lower than the second pressing surface 202 of the box body 200, so that the supporting member 50 is always located below the second pressing surface 202 during the rotation process. In step S30, when the supporting member 50 rotates to the second position, there may be a distance between the upper surface of the supporting member 50 (the second mating surface) and the second pressing surface 202. At this time, the clamping and transporting mechanism 100 moves upward as a whole, the supporting member 50 and the second pressing surface 202 abut against each other, the elastic member 30 contracts, and the pressing member 20 abuts against the first pressing surface 201, thereby clamping the box body 200.

[0087] When supporting the box body 200, the clamping member 20 and the supporting member 50 respectively abut against the first clamping surface 201 and the second clamping surface 202 of the box body 200, which can make the box body 200 more stable during transportation. Moreover, the position of the clamping member 20 can be adjusted by the expansion and contraction of the elastic member 30, which is suitable for transporting boxes 200 of different sizes.

[0088] The utility model provides a robot, please refer to Figure 7 and Figure 8 The robot includes a robot body 500, two robotic arms 400 connected to the robot body 500, and two gripping and transporting mechanisms 100 according to any of the above embodiments. The two gripping and transporting mechanisms 100 are respectively connected to the ends of the two robotic arms 400. When the robot transports a box 200, the two robotic arms 400 move to opposite sides of the box 200, and then the two gripping and transporting mechanisms 100 grip opposite sides of the box 200 to stably lift the box 200.

[0089] The robot provided by the present invention adopts the above-mentioned clamping and transporting mechanism 100, which includes a fixing member 10, a pressing member 20, a supporting member 50, an elastic member 30, and a driving assembly 60. The pressing member 20 can move along the extension and contraction direction of the elastic member 30, and the supporting member 50 can rotate to abut against the first pressing surface 201 of the box body 200 under the drive of the driving assembly 60. In this way, when transporting a box, the pressing member 20 first contacts the first pressing surface 201 of the box body 200, then the fixing member 10 and other components move downward, the pressing member 20 remains stationary, the elastic member 30 stretches, and then the driving assembly 60 drives the supporting member 50 to rotate until it abuts against the second pressing surface 202. The box body 200 can be supported by at least two clamping and transporting mechanisms 100. When supporting the box body 200, the clamping member 20 and the supporting member 50 respectively abut against the first clamping surface 201 and the second clamping surface 202 of the box body 200, which can make the box body 200 more stable during transportation. Moreover, the position of the clamping member 20 can be adjusted by the expansion and contraction of the elastic member 30, which is suitable for transporting boxes 200 of different sizes.

[0090] In some embodiments, the end of the robotic arm 400 has a six-dimensional force sensor 300 that can detect the position and force conditions of the end of the robotic arm 400.

[0091] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A clamping and transporting mechanism for clamping a box, wherein the box has a first pressing surface and a second pressing surface spaced apart from each other in the vertical direction, characterized in that: The clamping and transporting mechanism includes a fixing part, a pressing part, a supporting part, an elastic part and a driving assembly. The two ends of the elastic part are respectively connected to the fixing part and the pressing part, so that the pressing part can move along the extension and contraction direction of the elastic part. The pressing part is used to press on the first pressing surface. The supporting part is rotatably connected to the fixing part. The driving assembly is used to drive the supporting part to rotate, and the supporting part is used to abut against the second pressing surface.

2. The clamping and transporting mechanism according to claim 1, wherein: The driving assembly includes a motor, a swinging member and a connecting rod. The motor is fixed to the fixing member. The swinging member is driven to swing by the motor. One end of the connecting rod is rotatably connected to the swinging member, and the other end of the connecting rod is rotatably connected to the supporting member.

3. The clamping and transporting mechanism according to claim 2, wherein: The supporting member includes a supporting plate and a first hinge portion, wherein the first hinge portion is connected to the bottom of the supporting plate, the first hinge portion is rotatably connected to the connecting rod, and the supporting plate is rotatably connected to the fixing member.

4. The clamping and transporting mechanism according to claim 1, wherein: The fixing member is provided with a guide column, and the pressing member is provided with a guide hole for the guide column to pass through.

5. The clamping and transporting mechanism according to claim 4, characterized in that: The bottom end of the guide column is fixedly connected to the fixing member, and the top end of the guide column is fixed with a limiting piece, and the limiting piece is used to prevent the pressing member from being separated from the guide column.

6. The clamping and transporting mechanism according to claim 4, characterized in that: The fixing member includes a fixing plate, a guide block, a mounting block and a mounting post. The fixing plate has a side facing the box body. The guide block, the mounting block and the mounting post are all connected to the side of the fixing plate facing away from the box body. The guide block is provided with a mounting hole for the guide post to extend into. The motor of the drive assembly is fixed to the mounting block. One end of the elastic member is connected to the mounting post.

7. The clamping and transporting mechanism according to claim 6, wherein: The guide block and the mounting block are spaced apart to form a space for accommodating the elastic member, and the mounting column is arranged between the guide block and the mounting block.

8. The clamping and transporting mechanism according to claim 7, wherein: The mounting column is provided with a mounting groove, and one end of the elastic member is hung in the mounting groove; the pressing member is provided with a hanging portion, and the other end of the elastic member is hung on the hanging portion.

9. The clamping and transporting mechanism according to claim 6, wherein: A second hinge portion is provided on the bottom side of the fixing plate and protrudes downwards. The second hinge portion is rotatably connected to the supporting member.

10. A robot, characterized in that: It comprises a robot body, two robotic arms connected to the robot body, and two clamping and transporting mechanisms according to any one of claims 1 to 8, wherein the two clamping and transporting mechanisms are respectively connected to the ends of the two robotic arms.

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