Robotic arm

Abstract

The application discloses a mechanical hand, and belongs to the technical field of industrial mechanical hands. The mechanical hand is used for clamping a seat. The mechanical hand comprises a mounting support, a first clamping mechanism, a second clamping mechanism and a pressing mechanism. The first clamping mechanism, the second clamping mechanism and the pressing mechanism can abut against the seat. The force directions of the first clamping mechanism and the second clamping mechanism are opposite to each other to clamp the seat. The force direction of the pressing mechanism is opposite to the force direction of the second clamping mechanism. Specifically, the first clamping mechanism abuts against the top of the seat. Part of the second clamping mechanism penetrates into a gap between a seat back and a seat base to clamp the seat. The pressing mechanism applies a force to the seat base in a direction away from the seat back. The first clamping mechanism, the second clamping mechanism and the pressing mechanism form a multi-directional force cooperation, thereby adapting to a seat with a larger size and a heavier mass, and realizing a stable and reliable clamping effect.

Description

Technical Field

[0001] This application belongs to the field of industrial robot technology, and specifically relates to a robot. Background Technology

[0002] With the continuous development of new energy vehicles, personalized configurations and passenger comfort have become the focus of innovation in automobiles. Seats, as a key component, are increasingly featuring more functions, such as zero gravity, massage, and temperature control. This has led to the integration of more motors, sensors, and padding materials into seats, resulting in a significant increase in size and weight compared to traditional seats. This change has brought certain challenges to seat assembly. Utility Model Content

[0003] The purpose of this utility model is to provide a robotic arm to solve the technical problem of material waste caused by existing cushioning pad processing methods; another purpose of this application is to provide a battery module.

[0004] Technical solution: This application provides a robotic arm for gripping a seat, the robotic arm comprising:

[0005] Mounting bracket for connection to the robotic arm;

[0006] The first clamping mechanism is rotatably connected to one side of the mounting bracket;

[0007] The second clamping mechanism is rotatably connected to the side of the mounting bracket away from the first clamping mechanism; the second clamping mechanism and the first clamping mechanism are located on the same side of the mounting bracket, and the first clamping mechanism and the second clamping mechanism are spaced apart in a first direction;

[0008] A clamping mechanism is located on the side of the mounting bracket away from the second clamping mechanism in the second direction and is connected to the mounting bracket;

[0009] The first clamping mechanism, the second clamping mechanism, and the pressing mechanism can all abut against the seat. The first clamping mechanism and the second clamping mechanism apply force in opposite directions to clamp the seat, and the pressing mechanism applies force in the opposite direction to the second clamping mechanism. The first direction and the second direction intersect.

[0010] In some embodiments, the mounting bracket includes:

[0011] A first support member has a first clamping mechanism provided on one side in the first direction, and a second clamping mechanism provided on the side of the first support member away from the first clamping mechanism.

[0012] A base plate is disposed on the side of the first support member away from the first clamping mechanism and is connected to the first support member. The pressing mechanism is disposed on the side of the base plate facing the first support member. The base plate has a through groove.

[0013] The clamping mechanism includes:

[0014] A first mounting plate is connected to the base plate, and a first receiving cavity is provided between the first mounting plate and the base plate. The first receiving cavity communicates with the through groove to form a channel.

[0015] The third driving component is disposed on the side of the first mounting plate opposite to the base plate and is connected to the first mounting plate;

[0016] The clamping part is at least partially housed within the channel. The clamping part is connected to the output end of the third driving member, and the output end of the third driving member can drive the clamping part to move within the channel along the first direction.

[0017] In some embodiments, the clamping mechanism further includes a plurality of guide portions, which are spaced apart from the third drive member. A portion of the guide portion is connected to the clamping portion and is movable within the channel along the first direction.

[0018] In some embodiments, the guide portion includes:

[0019] An inner cylinder extends along the first direction and is connected to the pressing part;

[0020] An outer cylinder is fitted over the outer part of the inner cylinder and is slidably connected to the inner cylinder, and the outer cylinder is connected to the first mounting plate;

[0021] A first limiting plate is disposed at the end of the inner cylinder away from the pressing part, and the outer diameter of the first limiting plate is larger than the inner diameter of the outer cylinder.

[0022] In some embodiments, the first clamping mechanism includes:

[0023] The first driving component is connected to the first supporting component;

[0024] The first clamping rod is disposed on the side of the first driving member away from the second clamping mechanism and is rotatably connected to the first support member;

[0025] The first connector is sleeved on the first clamping rod and connected to the output end of the first driving component;

[0026] At least one pressure claw extends along the second direction and is connected to the first clamping rod.

[0027] In some embodiments, the second clamping mechanism includes:

[0028] The second driving member is disposed on the side of the first driving member away from the first clamping rod and is connected to the first support member;

[0029] A support base is disposed on the side of the base plate facing the second driving member;

[0030] The second clamping rod is connected to the support base;

[0031] The second connector is sleeved on the second clamping rod and rotatably connected to the second clamping rod. The second connector is connected to the output end of the second driving component.

[0032] The bucket is connected to the second connector.

[0033] In some embodiments, the second connector includes:

[0034] The docking part has one end connected to the output end of the second driving component;

[0035] The third clamping rod is inserted through the end of the docking portion away from the second driving member and is connected to the docking portion;

[0036] Multiple second connecting plates are arranged at intervals along the axial direction of the third clamping rod, and all of the multiple second connecting plates are connected to the third clamping rod;

[0037] A bushing is fitted over the outside of the second clamping rod. The inner wall of the bushing is rotatably connected to the second clamping rod, and the outer wall of the bushing is connected to each of the second connecting plates.

[0038] In some embodiments, the second connector further includes:

[0039] Multiple protrusions are provided on the side of the second connecting plate away from the third clamping rod;

[0040] The second mounting plate is connected to the side of each of the protrusions away from the second connecting plate, and the side of the second mounting plate away from the protrusions is in contact with a portion of the bucket.

[0041] In some embodiments, the mounting bracket further includes a second support member, which is disposed on the side of the first support member away from the bucket. One end of the second support member is rotatably connected to the first support member, and the other end of the second support member is connected to the robotic arm.

[0042] The robotic arm also includes a flipping mechanism, which is connected to the second support member and can drive the first support member to rotate.

[0043] In some embodiments, the second support member includes:

[0044] The first connecting part is connected to the first support member;

[0045] A rotating part is disposed on the side of the first connecting part away from the clamping mechanism, and the rotating part is connected to the first connecting part;

[0046] The fixed part is rotatably connected to the side of the rotating part away from the first connecting part, and the side of the fixed part away from the rotating part is connected to the robotic arm;

[0047] The flipping mechanism includes:

[0048] A fourth driving member is disposed on the side of the fixing part facing the third direction and connected to the fixing part, and the output shaft of the fourth driving member extends along the first direction;

[0049] The second connecting part has one end movably connected to the output end of the fourth driving member, and the other end of the second connecting part is connected to the first connecting part.

[0050] The first direction, the second direction, and the third direction intersect each other.

[0051] In some embodiments, the maximum rotation angle of the second connecting portion is 60°.

[0052] In some embodiments, the flipping mechanism further includes:

[0053] The third connecting part has one end connected to the output end of the fourth driving member;

[0054] The first rotating shaft is connected to the end of the third connecting part away from the fourth driving member, and the second connecting part is rotatably connected to the first rotating shaft.

[0055] In some embodiments, the fixing part includes:

[0056] The cylindrical body, at least a portion of the rotating part is inserted into the cylindrical body and rotatably connected to the cylindrical body;

[0057] A connecting arm, one end of which is connected to the cylinder, and the other end of which is connected to the robotic arm; the fourth driving member is disposed on the third-direction side of the connecting arm and is connected to the connecting arm.

[0058] In some embodiments, the robotic arm includes a grip disposed on the side of the connecting arm away from the second drive member and connected to the connecting arm.

[0059] In some embodiments, the robotic arm further includes a positioning mechanism disposed on the side of the fixed portion away from the second connecting portion, a portion of the positioning mechanism being connected to the fixed portion and another portion of the positioning mechanism being connected to the first support member.

[0060] In some embodiments, the positioning mechanism includes:

[0061] The second limiting plate is connected to the first support member, and the second limiting plate has a limiting hole;

[0062] The fifth driving member is connected to the fixing part, and the output end of the fifth driving member can extend into the limiting hole.

[0063] Beneficial effects: Compared with the prior art, the robotic arm provided in this application embodiment is used to clamp a seat. The robotic arm includes a mounting bracket, a first clamping mechanism, a second clamping mechanism, and a pressing mechanism. The first clamping mechanism, the second clamping mechanism, and the pressing mechanism can all abut against the seat. The first clamping mechanism and the second clamping mechanism apply force in opposite directions to clamp the seat, while the pressing mechanism applies force in the opposite direction to the second clamping mechanism. That is, the first clamping mechanism abuts against the top of the seat, a portion of the second clamping mechanism inserts into the gap between the backrest and the seat to clamp the seat, and the pressing mechanism applies a force to the seat away from the backrest. The first clamping mechanism, the second clamping mechanism, and the pressing mechanism form a multi-directional force cooperation, thereby adapting to larger and heavier seats and achieving a stable and reliable clamping effect. Attached Figure Description

[0064] The technical solution and other beneficial effects of this application will become apparent from the following detailed description of specific embodiments in conjunction with the accompanying drawings.

[0065] Figure 1 A schematic diagram of the overall structure of the robotic arm provided in an embodiment of this application from one angle;

[0066] Figure 2 This is a schematic diagram of the overall structure of the robotic arm provided in an embodiment of this application from another angle;

[0067] Figure 3 Provided for the embodiments of this application Figure 2 Schematic diagram of the cross-sectional structure of the middle AA section;

[0068] Figure 4 This is a schematic diagram of the overall structure of the mounting bracket provided in the embodiments of this application;

[0069] Figure 5 Provided for the embodiments of this application Figure 3 Enlarged view at point B in the middle;

[0070] Figure 6 Provided for the embodiments of this application Figure 3 Enlarged view at point C;

[0071] Figure 7 This is a schematic diagram of the overall structure of the second connector provided in an embodiment of this application;

[0072] Figure 8 This is another overall structural schematic diagram of the robotic arm provided in the embodiments of this application.

[0073] Explanation of reference numerals in the attached figures:

[0074] X - First direction; Y - Second direction; Z - Third direction;

[0075] 100-Mounting bracket; 110-First support member; 111-Support column; 112-First connecting plate; 120-Base plate; 121-Through groove; 130-First receiving cavity; 140-Channel; 150-Second support member; 151-First connecting part; 152-Rotating part; 153-Fixing part; 1531-Cylinder body; 1532-Connecting arm; 160-Third mounting plate; 170-Fourth mounting plate;

[0076] 200 - First clamping mechanism; 210 - First driving component; 220 - First clamping roller; 230 - First connector; 240 - Pressure claw; 250 - Clamping clamp;

[0077] 300-Second clamping mechanism; 310-Second driving component; 320-Support base; 330-Second clamping roller; 340-Second connector; 341-Mating part; 342-Third clamping roller; 343-Second connecting plate; 344-Busset; 345-Protrusion; 346-Second mounting plate; 350-Bucket;

[0078] 400 - Clamping mechanism; 410 - First mounting plate; 420 - Third driving component; 430 - Clamping part; 440 - Guide part; 441 - Inner cylinder; 442 - Outer cylinder; 443 - First limiting plate;

[0079] 510 - Backrest; 520 - Cushion;

[0080] 600 - Tilting mechanism; 610 - First rotating shaft; 620 - Fourth driving component; 630 - Second connecting part; 640 - Third connecting part;

[0081] 700-grip;

[0082] 800 - Positioning mechanism; 810 - Second limiting plate; 811 - Limiting hole; 820 - Fifth driving component. Detailed Implementation

[0083] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0084] In the description of this application, it should be understood that the terms "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a connection that allows communication; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two elements or an interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances. Furthermore, although the terms "first," "second," etc., may be used herein to describe various components, these components should not be limited by these terms. These terms are used to distinguish one component from another. Therefore, the first component discussed below may be referred to as the second component without departing from the teachings of this application. As used herein, the term "and / or" includes all combinations of any one and more of the associated listed items.

[0085] In the description of this application, "multiple" means two or more, and "at least one" means one, two, or more, unless otherwise explicitly specified. In the description of this application, "perpendicular" means completely perpendicular to 90° or almost completely perpendicular, for example, an angle of 80° to 100° is considered perpendicular. Similarly, "parallel" means completely parallel or almost completely parallel, for example, a completely parallel angle of 10° is considered parallel.

[0086] It should also be noted that in the accompanying drawings of the embodiments of this application, the arrows labeled X, Y, and Z respectively represent the first direction X, the second direction Y, and the third direction Z. The description of this application introduces the first direction X, the second direction Y, and the third direction Z to more clearly express the relative positional relationship involved in this application. The first direction X, the second direction Y, and the third direction Z are three intersecting relative directions, not absolute directions. In practical applications, the first direction X, the second direction Y, and the third direction Z can point to any direction in space, as long as the intersection relationship between them is maintained.

[0087] The following disclosure provides many different implementations or examples for carrying out different structures of this application. To simplify the disclosure of this application, the components and arrangements of specific examples are described below. Of course, these are merely examples and are not intended to limit this application.

[0088] With the continuous development of new energy vehicles, personalized configurations and ride comfort have become the focus of innovation in automobiles. As a key component, seats are becoming increasingly functional, such as offering zero gravity, massage, and temperature control. This has led to the integration of more motors, sensors, and padding materials into seats, resulting in a significant increase in size and weight compared to traditional seats.

[0089] This change has brought some difficulties to the assembly of the seats: on the one hand, the increased weight of the seats has significantly increased the workload of employees when they are manually moved into the vehicle for assembly; on the other hand, the field of vision is often restricted during the process of moving the seats from outside the vehicle to inside, which can easily cause the seats to bump into the paint of the vehicle body and cause cosmetic damage.

[0090] In view of this, embodiments of this application provide a robotic arm to solve at least part of the above-mentioned technical problems.

[0091] According to the first aspect of this application, please refer to Figure 1This embodiment discloses a robotic arm for gripping a seat. The robotic arm includes a mounting bracket 100, a first gripping mechanism 200, a second gripping mechanism 300, and a pressing mechanism 400. The mounting bracket 100 serves as the frame foundation of the robotic arm, providing a mounting platform and structural support. The mounting bracket 100 is connected to a robotic arm, which drives the entire robotic arm to move. The first gripping mechanism 200 and the second gripping mechanism 300 cooperate to grip the seat. The pressing mechanism 400 applies additional force to the seat, coordinating with the gripping forces of the first and second gripping mechanisms 200 and 300, thereby enabling stable and secure gripping of larger and heavier seats. Specifically, the first clamping mechanism 200, the second clamping mechanism 300, and the pressing mechanism 400 can all abut against the seat. The first clamping mechanism 200 and the second clamping mechanism 300 apply force in opposite directions to clamp the seat, while the pressing mechanism 400 applies force in the opposite direction to the second clamping mechanism 300. It should be noted that the first clamping mechanism 200 abuts against the top of the seat, a portion of the second clamping mechanism 300 inserts into the gap between the seat back and the seat to clamp the seat, and the pressing mechanism 400 applies a force to the seat away from the seat back. The first clamping mechanism 200, the second clamping mechanism 300, and the pressing mechanism 400 form a multi-directional force-coordinated arrangement, thereby adapting to larger and heavier seats and achieving a stable and reliable clamping effect. In addition, the first clamping mechanism 200 and the second clamping mechanism 300 operate synchronously. Part of the second clamping mechanism 300 is inserted into the gap between the chair back and the chair seat, and then the first clamping mechanism 200 and the second clamping mechanism 300 operate synchronously to clamp the seat.

[0092] Specifically, the first clamping mechanism 200 is rotatably connected to one side of the mounting bracket 100. This rotatable connection allows the first clamping mechanism 200 to flexibly adjust its angle according to the structure of the top of the seat, preparing for subsequent synchronous action with the second clamping mechanism 300 and ensuring that it can contact the top of the seat during the clamping phase.

[0093] The second clamping mechanism 300 is rotatably connected to the mounting bracket 100 on the side away from the first clamping mechanism 200. This rotatable connection allows the second clamping mechanism 300 to flexibly adjust its posture, facilitating the smooth insertion of part of the structure into the gap between the chair back and seat during the initial stage of synchronous operation with the first clamping mechanism 200, thus preparing for subsequent clamping actions.

[0094] The second clamping mechanism 300 and the first clamping mechanism 200 are located on the same side of the mounting bracket 100 to ensure that they can engage with the seat from the same direction during synchronous operation. The first clamping mechanism 200 and the second clamping mechanism 300 are spaced apart in the first direction X (taking the direction of gravity as an example in this embodiment) to accommodate the height difference between the top of the chair back and the bottom of the seat. This allows the second clamping mechanism 300 to first insert into the gap between the chair back and the seat, and then work together with the first clamping mechanism 200 to achieve clamping.

[0095] The clamping mechanism 400 is located on the side of the mounting bracket 100 away from the second clamping mechanism 300 in the second direction Y, and is connected to the mounting bracket 100. It should be noted that the clamping mechanism 400 abuts against the seat, so that the first clamping mechanism 200 and the second clamping mechanism 300 clamp the seat in the first direction X. The clamping mechanism 400 applies a force to the seat in the first direction X opposite to the force applied by the second clamping mechanism 300, thus forming a multi-directional force-bearing cooperation between the clamping mechanism 400, the first clamping mechanism 200, and the second clamping mechanism 300. When the second clamping mechanism 300 is inserted into the gap between the backrest and the seat, and the first clamping mechanism 200 is against the top of the seat, the clamping mechanism 400 applies a force to the seat in the first direction X opposite to the force applied by the second clamping mechanism 300, thereby further enhancing the clamping stability of the seat, especially suitable for large-sized, heavy seats, preventing loosening during transportation.

[0096] As can be seen from the above technical solution, the mounting bracket 100 in this embodiment provides stable support. The first clamping mechanism 200, the second clamping mechanism 300 and the pressing mechanism 400 form a multi-directional force cooperation, which can firmly clamp large-size heavy seats. Furthermore, the layout adapted to the seat structure and the synchronous action logic improve the accuracy of operation, reduce the workload of employees, avoid vehicle collisions, and effectively solve the problem of difficult seat assembly in new energy vehicles.

[0097] In some embodiments, please refer to Figure 2 and Figure 4The aforementioned mounting bracket 100 includes a first support member 110 and a base plate 120. A first clamping mechanism 200 is provided on one side of the first support member 110 in the first direction X, and a second clamping mechanism 300 is provided on the side of the first support member 110 away from the first clamping mechanism 200. Specifically, the first support member 110 includes two support columns 111, which are spaced apart along the third direction Z to form a symmetrical support structure. The first clamping mechanism 200 is located on one side of the symmetrical support structure in the first direction X, and the second clamping mechanism 300 is located on the side of the symmetrical support structure away from the first clamping mechanism 200, and both are on the same side of the symmetrical support structure (closer to the operating side of the seat). This structure, with both sides distributed for same-side operation, creates a lever arm space for clamping actions through the spacing of the two support columns 111, and ensures that the first clamping mechanism 200 and the second clamping mechanism 300 can simultaneously apply opposing forces to the seat (top of the backrest and bottom of the seat), adapting to the three-dimensional structure of the seat.

[0098] The base plate 120 is disposed on the side of the first support member 110 away from the first clamping mechanism 200 and is connected to the first support member 110. Specifically, the base plate 120 is connected to the side of the two support columns 111 away from the first clamping mechanism 200, and both support columns 111 are perpendicularly connected to the base plate 120 (e.g., by welding or bolting). In addition, the base plate 120 has a through groove 121, which is used to avoid the pressing mechanism 400, so that a part of the pressing mechanism 400 passes through the through groove 121 and extends out of the base plate 120 to apply pressure to the seat of the chair.

[0099] Please see Figure 1 , Figure 2 and Figure 5 The aforementioned clamping mechanism 400 includes a first mounting plate 410, a third driving member 420, and a clamping part 430. The first mounting plate 410 is connected to the base plate 120, and a first receiving cavity 130 is formed between the first mounting plate 410 and the base plate 120. The first receiving cavity 130 communicates with the through groove 121 to form a channel 140. The third driving member 420 (such as a servo motor) is disposed on the side of the first mounting plate 410 away from the base plate 120 and is connected to the first mounting plate 410. The clamping part 430 is at least partially accommodated within the channel 140, and the clamping part 430 is connected to the output end of the third driving member 420. The output end of the third driving member 420 can drive the clamping part 430 to move along the first direction X within the channel 140.

[0100] It should be noted that the cross-section of the first mounting plate 410 is shaped like a "Z". That is, any two opposite sides of the first mounting plate 410 are connected to the base plate 120. The other parts of the first mounting plate 410 are spaced apart from the base plate 120 to form a first receiving cavity 130. The first receiving cavity 130 is connected to the through groove 121 to form a channel 140, which provides a space for the pressing part 430 to move, and also provides a certain guide for the movement of the pressing part 430 through the set space to ensure the stability of the movement.

[0101] The third driving member 420 is connected to the first mounting plate 410, and the output end of the third driving member 420 extends along the first direction X and faces the channel 140. The clamping part 430 can be a plate-shaped structure, and the clamping part 430 is perpendicularly connected to the output end of the third driving member 420. When the output end of the third driving member 420 extends or retracts along the first direction X, the clamping part 430 moves accordingly along the first direction X.

[0102] During operation, the output end of the third drive member 420 extends and retracts along the first direction X, driving the clamping part 430 to move synchronously within the channel 140. When it is necessary to clamp the seat, the output end of the third drive member 420 extends, and the clamping part 430 extends through the channel 140, adhering to the seat surface and applying a force away from the backrest direction, which, together with the first clamping mechanism 200 and the second clamping mechanism 300, enhances the clamping stability. When no pressure is required, the output end of the third drive member 420 retracts, and the clamping part 430 can be completely stored within the channel 140, avoiding interference with the seat or other components and improving operational flexibility.

[0103] As can be seen from the above technical solution, the mounting bracket 100 in this embodiment forms a stable frame through the symmetrical structure of the double support columns 111 and the vertical connection with the base plate 120. Combined with the same-side distribution and spaced layout of the first clamping mechanism 200 and the second clamping mechanism 300, it adapts to the seat structure and ensures the synchronous opposing clamping force on the top of the seat back and the bottom of the seat. Furthermore, with the help of the channel 140 formed by the through groove 121 of the base plate 120 and the first receiving cavity 130 of the first mounting plate 410, the third driving member 420 drives the plate-shaped pressing part 430 to flexibly extend and retract along the first direction X. The three work together to form a multi-directional force balance to stably clamp the large-size heavy seat.

[0104] In some embodiments, please refer to Figure 2To maximize the contact area between the pressing part 430 and the chair seat and avoid damage, the pressing part 430 is designed to be relatively large. This could lead to uneven force distribution or jamming when the third drive component 420 moves it. Therefore, the pressing mechanism 400 adds multiple guide parts 440, which are spaced apart from the third drive component 420. Parts of the guide parts 440 are connected to the pressing part 430 and can move along the first direction X within the channel 140. Through auxiliary support and directional guidance, the force on the pressing part 430 is effectively distributed, ensuring smooth movement of the pressing part 430 along the first direction X. This guarantees the stability of the pressure applied to the chair seat and avoids deviation or jamming, further improving the gripping reliability of the robotic arm.

[0105] Specifically, the guide portion 440 includes an inner cylinder 441, an outer cylinder 442, and a first limiting plate 443. The inner cylinder 441 extends along a first direction X and is connected to the pressing portion 430. The outer cylinder 442 is sleeved on the outside of the inner cylinder 441 and is slidably connected to the inner cylinder 441, and the outer cylinder 442 is connected to the first mounting plate 410. The first limiting plate 443 is disposed at the end of the inner cylinder 441 away from the pressing portion 430, and the outer diameter of the first limiting plate 443 is larger than the inner diameter of the outer cylinder 442.

[0106] It should be noted that the inner cylinder 441 of the guide section 440 extends along the first direction X, and one end is rigidly connected to the pressing section 430 (e.g., bolted) to ensure synchronous movement of the two. The extension direction of the inner cylinder 441 provides basic guidance for the movement of the pressing section 430. The outer cylinder 442 is sleeved on the outside of the inner cylinder 441, forming a sliding fit with the inner cylinder 441 (which can be achieved by gap control or by adding a wear-resistant bushing). This allows the inner cylinder 441 to slide smoothly along the first direction X, while the radial constraint of the outer cylinder 442 restricts the lateral sway of the inner cylinder 441. At the same time, the outer cylinder 442 is fixedly connected to the first mounting plate 410 (e.g., welded or bolted), and the rigidity of the first mounting plate 410 provides stable support for the entire guide section 440.

[0107] The first limiting plate 443 is disposed at the end of the inner cylinder 441 away from the pressing part 430, and its outer diameter is larger than the inner diameter of the outer cylinder 442. When the inner cylinder 441 moves along the first direction X with the pressing part 430, the pressing part 430 drives the inner cylinder 441 to move synchronously: when the inner cylinder 441 slides outward to the maximum stroke, the first limiting plate 443 will abut against the end of the outer cylinder 442, and prevent the inner cylinder 441 from coming out of the outer cylinder 442 by virtue of its size being larger than the inner diameter of the outer cylinder 442, thus avoiding failure of the guide structure.

[0108] As can be seen from the above technical solution, the axial sliding fit and radial constraint of the guide part 440 control the movement trajectory of the inner cylinder 441, thereby ensuring that the pressing part 430 can move along the first direction X, effectively solving the problem of easy deviation and jamming of the large-sized pressing part 430; while the first limiting plate 443 provides rigid constraint on the sliding range of the guide part 440 through a mechanical limiting mechanism, taking into account both movement flexibility and structural safety. When multiple such guide parts 440 are used in conjunction with the third driving component 420, the force on the pressing part 430 can be further distributed, improving the stability and durability of the overall mechanism.

[0109] In some examples, please refer to Figure 2 The clamping mechanism 400 has two guide portions 440, which are arranged opposite to each other on both sides of the third driving member 420 to form a symmetrical auxiliary support and guiding structure. This further improves the movement stability of the large-sized clamping part 430 through symmetrical force balance: the third driving member 420 is located in the middle to provide driving force, while the guide portions 440 on both sides constrain the clamping part 430 from the lateral sides respectively.

[0110] When the third driving component 420 drives the pressing part 430 to move along the first direction X, the inner cylinder 441 of the guide parts 440 on both sides slides synchronously with the pressing part 430. The outer cylinder 442 provides radial support for the inner cylinder 441 through a rigid connection, which can effectively counteract the eccentric torque generated by the large size of the pressing part 430 and avoid unilateral deviation or jamming. At the same time, the symmetrically distributed guide parts 440 can more evenly disperse the reaction force when the pressing part 430 contacts the seat, reduce local stress concentration, protect the seat surface, and extend the service life of the guide parts 440.

[0111] In some embodiments, please refer to Figure 1 , Figure 2 , Figure 4 and Figure 6 To enhance the structural stability of the first support member 110, the mounting bracket 100 further includes two first connecting plates 112 and a third mounting plate 160. Each support column 111 has a first connecting plate 112 on the side furthest from the second clamping mechanism 300. The two first connecting plates 112 are symmetrically arranged, distributing the force through a symmetrical structure. The first clamping mechanism 200 is connected to the two first connecting plates 112. The third mounting plate 160 is positioned between the two support columns 111, with each end connected to one support column 111. The two large surfaces of the third mounting plate 160 are positioned opposite each other along the second direction Y, and the third mounting plate 160 provides a mounting platform for the first clamping mechanism 200. This layout not only fills the structural gap between the two support columns 111 and improves overall rigidity, but also creates a suitable mounting platform for the first clamping mechanism 200, optimizing the spatial arrangement.

[0112] The aforementioned first clamping mechanism 200 includes a first driving member 210, a first clamping rod 220, a first connector 230, and at least one pressure claw 240. These components work together to stably clamp the top of the seat, providing top clamping force for the multi-directional forces acting on the entire robotic arm. The first driving member 210 (e.g., a servo motor) is connected to the first support member 110, providing power for the movement of the first clamping mechanism 200. Specifically, the first driving member 210 is fixedly connected to the third mounting plate 160. The first clamping rod 220 is located on the side of the first driving member 210 away from the second clamping mechanism 300 and is rotatably connected to the first support member 110; that is, the first clamping rod 220 can rotate flexibly relative to the first support member 110. Specifically, the first clamping rod 220 passes through the two first connecting plates 112. A clamping clip 250 is provided at the connection between the first connecting plate 112 and the first clamping rod 220 to fix the first clamping rod 220 to the first connecting plate 112. The first clamping rod 220 and the clamping clip 250 are rotatably connected. That is, the clamping clip 250 not only fixes the position of the first clamping rod 220, but also allows the first clamping rod 220 to rotate flexibly through the rotatable connection design, so as to realize the dynamic adjustment of the clamping angle. The first connector 230 is sleeved on the first clamping rod 220 and connected to the output end of the first driving member 210, which can transmit the driving force to the first clamping rod 220, causing the first clamping rod 220 to rotate synchronously. Specifically, the connection between the first clamping rod 220 and the first connector 230 can be configured as a multi-faceted structure, and the corresponding first connector 230 can be configured with a matching multi-faceted structure inside, so that the connection between the first clamping rod 220 and the first connector 230 is tighter, greatly reducing the risk of slippage and ensuring that the driving force is efficiently transmitted to the first clamping rod 220 and drives it to rotate synchronously. The pressure claws 240 extend along the second direction Y and are connected to the first clamping rod 220. Their number can be set according to needs to ensure the contact area with the seat and avoid excessive local pressure that could damage the seat.

[0113] When the first drive unit 210 operates, it drives the first gripper 220 to rotate via the first connector 230. The pressure claw 240 rotates accordingly and gradually approaches or moves away from the top of the seat. The angle is adjusted by rotation to adapt to the top structure of different seats. The overall structure is compact. By using the linkage between the first gripper 220 and the first connector 230, the rotational motion is efficiently converted into a gripping action, achieving stable gripping of the top of the seat within a limited space and providing reliable support for the multi-directional force coordination of the robotic arm.

[0114] In some embodiments, please refer to Figure 4The aforementioned mounting bracket 100 also includes a fourth mounting plate 170, with each end of the fourth mounting plate 170 connected to a support column 111, serving to reinforce the support column 111 and enhance the overall rigidity of the mounting bracket 100. The two large surfaces of the fourth mounting plate 170 are positioned opposite each other along the first direction X, and the fourth mounting plate 170 is connected to the third mounting plate 160. That is, the planar direction of the fourth mounting plate 170 is consistent with the first direction X (i.e., the direction of gravity), ensuring that its force direction matches the overall structure.

[0115] Please see Figure 3 The aforementioned second clamping mechanism 300 includes a second driving member 310, a support base 320, a second clamping roller 330, a second connector 340, and a bucket 350. The second driving member 310 (e.g., a servo motor) is located on the side of the first driving member 210 away from the first clamping roller 220 and is connected to the first support member 110. Specifically, the second driving member 310 is connected to the side of the fourth mounting plate 170 away from the third mounting plate 160, and the output end of the second driving member 310 extends towards the base plate 120. The support base 320 is located on the side of the base plate 120 facing the second driving member 310. Specifically, the support base 320 is connected to the base plate 120 and consists of two support plates, each connected to a support column 111. The second clamping roller 330 is connected to the support base 320. Specifically, the second clamping roller 330 passes through the two support plates to facilitate connection between them. The second connector 340 is sleeved on the second clamping rod 330 and rotatably connected to it. The second connector 340 is connected to the output end of the second driving member 310. Specifically, the second connector 340 is fixedly connected to the output end of the second driving member 310, and rotatably connected to the second clamping rod 330. When the output end of the second driving member 310 moves, it drives the second connector 340 to rotate around the second clamping rod 330 as the central axis. The bucket 350 is connected to the second connector 340 and can move synchronously with the rotation of the second connector 340, thereby realizing the action of inserting into or disengaging from the gap between the chair back and the seat, and cooperating with the first clamping mechanism 200 to complete the clamping and release of the seat.

[0116] In some examples, please refer to Figure 7The aforementioned second connector 340 includes a docking portion 341, a third clamping roller 342, multiple second connecting plates 343, a fourth clamping roller, and a bushing 344. One end of the docking portion 341 is connected to the output end of the second driving member 310. The third clamping roller 342 passes through the end of the docking portion 341 furthest from the second driving member 310 and is connected to the docking portion 341. Multiple second connecting plates 343 are arranged at intervals along the axial direction of the third clamping roller 342, and all multiple second connecting plates 343 are connected to the third clamping roller 342. Specifically, this interval arrangement can both distribute the force and avoid local stress concentration, and can also enhance the overall rigidity through the synergistic effect of multiple second connecting plates 343. The bushing 344 is sleeved on the outside of the second clamping roller 330. The inner wall of the bushing 344 is rotatably connected to the second clamping roller 330 (e.g., with a bearing installed), and the outer wall of the bushing 344 is connected to each second connecting plate 343, so that the third clamping roller 342 forms a linkage with the bushing 344 through the second connecting plates 343. In this way, when the second driving component 310 drives the docking part 341 to move, the power is transmitted sequentially through the third clamping rod 342 and the second connecting plate 343 to the bushing 344, driving the bushing 344 to rotate around the second clamping rod 330, thereby driving the bucket 350 connected to it to rotate synchronously, realizing the action of inserting or disengaging from the gap between the chair back and the seat. The overall structure takes into account both transmission efficiency and rotational stability.

[0117] In some examples, please refer to Figure 7 The second connector 340 also includes multiple protrusions 345 and a second mounting plate 346. Each second connecting plate 343 has a protrusion 345 on the side away from the third clamping rod 342. The second mounting plate 346 is connected to the side of each protrusion 345 away from the second connecting plate 343 (engaging with the protrusion 345), and the side of the second mounting plate 346 away from the protrusion 345 is in contact with a portion of the bucket 350; that is, the side of the second mounting plate 346 away from the protrusion 345 is completely in contact with the back of a portion of the bucket 350. This large-area contact design effectively increases the contact area, allowing the bucket 350 to evenly distribute the load to the multiple second connecting plates 343 when under force, avoiding structural damage caused by local stress concentration.

[0118] In this embodiment, through the reasonable distribution of the protrusions 345 and the overall connection of the second mounting plate 346, the second joint 340 not only strengthens the connection strength with the bucket 350, but also improves the force transmission efficiency through structural optimization, ensuring that the bucket 350 can stably follow the rotation trajectory of the second joint 340 during frequent clamping actions, further enhancing the reliability and service life of the second clamping mechanism 300.

[0119] In some embodiments, please refer to Figure 1 , Figure 2 and Figure 3As shown, some types of seats have a large height dimension, making them unsuitable for direct transport into the vehicle body. The mounting bracket 100 improves the manipulator's operational flexibility and applicability by adding a second support member 150 and a tilting mechanism 600. The second support member 150 is located on the side of the first support member 110 away from the bucket 350. One end of the second support member 150 is rotatably connected to the first support member 110, and the other end is connected to the manipulator, serving as a bridge between the mounting bracket 100 and the manipulator. The manipulator also includes a tilting mechanism 600, which is connected to the second support member 150 and can drive the first support member 110 to rotate. The tilting mechanism 600 acts as a drive unit, with one end fixedly connected to the second support member 150 and the other end rotatably connected to the first support member 110. When the tilting mechanism 600 is activated, it can control the rotation of the first support member 110 relative to the second support member 150, enabling angle adjustment of the seat during transport (e.g., tilting from vertical to horizontal). This allows the seat to enter the installation station in the optimal position, significantly improving assembly efficiency. Furthermore, the 600-degree tilt mechanism enhances the robot's adaptability to seats from different vehicle models. By adjusting the clamping angle, it can accommodate a wider variety of seat structures, further expanding the robot's application scenarios.

[0120] In some examples, please refer to Figure 1 and Figure 2 The second support member 150 includes a first connecting portion 151, a rotating portion 152, and a fixing portion 153. The first connecting portion 151 is connected to the first support member 110. Specifically, the first connecting portion 151 extends in the third direction Z, and both ends of the first connecting portion 151 are connected to a support column 111, effectively enhancing the connection strength and stability with the first support member 110 and ensuring uniform force transmission. The rotating portion 152 is located on the side of the first connecting portion 151 away from the pressing mechanism 400, and is connected to the first connecting portion 151. The fixing portion 153 is rotatably connected to the side of the rotating portion 152 away from the first connecting portion 151, and the end of the fixing portion 153 away from the rotating portion 152 is connected to the robotic arm. The interior of the fixed part 153 can form a rotating pair with the rotating part 152 by installing a bearing, so as to achieve low friction relative rotation. The bearing (such as a deep groove ball bearing or an angular contact ball bearing) can withstand both radial force and a certain axial force, ensuring accuracy and reliability during rotation. The end of the fixed part 153 away from the rotating part 152 is rigidly connected to the main body of the robotic arm as a support base.

[0121] The aforementioned flipping mechanism 600 includes a fourth driving member 620 and a second connecting portion 630. The fourth driving member 620 (such as a servo motor) is disposed on the side of the fixed portion 153 in the third direction Z and is connected to the fixed portion 153. The output shaft of the fourth driving member 620 extends along the first direction X and can output driving force through a telescopic movement. One end of the second connecting portion 630 is movably connected to the output end of the fourth driving member 620, and the other end of the second connecting portion 630 is connected to the first connecting portion 151.

[0122] When the seat needs to be transported into the vehicle body, the fourth drive component 620 actuates, its output shaft moves along the first direction X, driving the second connecting part 630 to rotate toward the fixed part 153; the second connecting part 630, through its rigid connection with the first connecting part 151, converts the driving force into torque on the first connecting part 151, causing the first connecting part 151 to rotate clockwise around the axis of the rotating part 152 (to... Figure 2 (Taking a specific perspective as an example); the rotation of the first connecting part 151 synchronously drives the first support member 110 connected to it and the entire clamping mechanism (first clamping mechanism 200, second clamping mechanism 300 and pressing mechanism 400) to rotate clockwise, thereby causing the clamped seat to tilt clockwise. This tilting action can adapt to the installation space inside the vehicle body, avoid interference between the seat and the vehicle body frame, ensure that the robot arm can smoothly send the seat into the assembly station, and greatly improve assembly efficiency and operational safety.

[0123] It should be noted that the maximum rotation angle of the second connecting part 630 is 60°. The initial position is defined as an angle of 180° between the second connecting part 630 and the output shaft of the fourth driving member 620 (i.e., the output shafts of the second connecting part 630 and the fourth driving member 620 are collinear and straight). The maximum rotation angle refers to the angle from this initial position where the second connecting part 630 rotates at... Figure 2 The maximum clockwise rotation of the viewing angle stops when the second connecting part 630 forms a 60° angle with the initial position. This angle limitation ensures that the seat can fully adapt to the installation space inside the vehicle body through a 60° tilting motion, avoiding interference with the vehicle body structure. It also prevents instability or component damage caused by excessive flipping by limiting the maximum rotation range, further improving the controllability and safety of the flipping action.

[0124] In some examples, please refer to Figure 1The flipping mechanism 600 also includes a third connecting portion 640 and a first rotating shaft 610. One end of the third connecting portion 640 is connected to the output end of the fourth driving member 620. The first rotating shaft 610 is connected to the end of the third connecting portion 640 away from the fourth driving member 620, and the second connecting portion 630 is rotatably connected to the first rotating shaft 610. It should be noted that the third connecting portion 640 serves as an intermediate transmission component, with one end fixedly connected to the output end of the fourth driving member 620, and the other end forming a rotating pair with the second connecting portion 630 via the first rotating shaft 610. This allows the driving force of the fourth driving member 620 to be first transmitted to the third connecting portion 640, and then the linear motion is converted into the rotational motion of the second connecting portion 630 via the first rotating shaft 610.

[0125] The first rotating shaft 610 not only provides a rotation center for the second connecting part 630, but also achieves low-friction rotation through bearings (such as needle roller bearings or tapered roller bearings), ensuring smooth operation of the second connecting part 630 within a 60° rotation range. When the fourth driving member 620 is activated, its output end moves linearly along the first direction X (usually the direction of gravity), driving the third connecting part 640 to translate synchronously. Since the third connecting part 640 is connected to the second connecting part 630 through the first rotating shaft 610, this translational motion, constrained by the first rotating shaft 610, is converted into a tangential force on the second connecting part 630, forcing the second connecting part 630 to rotate clockwise around the axis of the first rotating shaft 610 (towards...). Figure 2 (Taking a perspective as an example). By designing the length of the third connecting part 640 and the position of the first rotating shaft 610, the maximum rotation angle of the second connecting part 630 is limited to 60°. When this angle is reached, the relative positions of the third connecting part 640 and the second connecting part 630 form a mechanical limit to prevent excessive rotation.

[0126] In some examples, please refer to Figure 2 The fixing part 153 includes a cylindrical body 1531 and a connecting arm 1532, which not only achieves a stable rotatable connection with the rotating part 152, but also provides a reliable mounting base for the fourth driving member 620. At least a portion of the rotating part 152 passes through the cylindrical body 1531 and is rotatably connected to the cylindrical body 1531. One end of the connecting arm 1532 is connected to the cylindrical body 1531, and the other end of the connecting arm 1532 is connected to the robotic arm. The fourth driving member 620 is disposed on the Z-axis side of the connecting arm 1532 and is connected to the connecting arm 1532.

[0127] It should be noted that the cylinder 1531, serving as the support carrier for the rotating part 152, has an internal bore diameter that matches the outer diameter of the rotating part 152. By installing deep groove ball bearings or tapered roller bearings, the rotating part 152 can rotate freely within the cylinder 1531. Simultaneously, the bearing preload is precisely controlled to strictly regulate axial and radial clearances, effectively improving rotational accuracy. The connecting arm 1532 serves as the bridge between the cylinder 1531 and the robotic arm. One end connects to the outer wall of the cylinder 1531, forming a rigid integral unit, while the other end is fixed to the robotic arm. This design allows the connecting arm 1532 to withstand torque and bending moment from the rotating part 152 and evenly transmit them to the robotic arm body.

[0128] In some embodiments, please refer to Figure 1 , Figure 2 , Figure 3 and Figure 8 The robotic arm includes a handle 700, which is located on the side of the connecting arm 1532 away from the second drive member 310 and is connected to the connecting arm 1532. It should be noted that the handle 700 provides a convenient point of force application for manual operation, allowing operators to make fine adjustments to the seat position while performing clamping or flipping actions. For example, when there is a slight deviation between the seat and the vehicle body installation position, the operator can apply appropriate external force by holding the handle 700 to fine-tune the angle or lateral position of the seat, ensuring precise alignment of the seat with the assembly holes.

[0129] In some embodiments, please refer to Figure 8 The robotic arm also includes a positioning mechanism 800, which is located on the side of the fixed part 153 away from the second connecting part 630. A part of the positioning mechanism 800 is connected to the fixed part 153, and the other part of the positioning mechanism 800 is connected to the first support member 110. That is, by connecting part of the positioning mechanism 800 to the fixed part 153 and connecting the other part of the positioning mechanism 800 to the first support member 110, a rigid support and positioning constraint bridging the two are formed. For seats with a large width dimension (the dimension of the seat in the third direction Z in the clamping state), in the clamping state, its center of gravity tends to be biased to the outside of the robotic arm, causing the first support member 110 to bear additional eccentric torque. If only the driving constraint of the flipping mechanism 600 is relied upon, the torque overload may cause a slight displacement of the first support member 110 (such as rotation angle deviation or lateral sway), affecting the clamping stability and assembly accuracy.

[0130] Understandably, the positioning mechanism 800 serves to add a fixed fulcrum to the first support member 110: through bidirectional connection with the fixing part 153 and the first support member 110, it disperses the eccentric torque generated by the seat to the fixing part 153, and transmits the load to the main body of the robotic arm through the rigid connection between the fixing part 153 and the robotic arm, thereby offsetting the overturning force caused by the outer center of gravity. Specifically, the positioning mechanism 800 can adopt an adjustable rigid linkage or a strut structure with locking function. When clamping a wide seat, its connection end with the first support member 110 can adjust its angle synchronously with the rotation of the first support member 110. At the same time, the locking structure maintains rigid support with the fixing part 153, which neither interferes with normal flipping actions nor provides a stable reaction force when subjected to force, effectively preventing the first support member 110 from shifting due to eccentric load, and ensuring the posture stability of the wide-size seat during handling, flipping, and assembly.

[0131] In some examples, please refer to Figure 8 The positioning mechanism 800 includes a second limiting plate 810 and a fifth driving member 820. The second limiting plate 810 is connected to the first support member 110 and has a limiting hole 811. The fifth driving member 820 is connected to the fixing part 153, and the output end of the fifth driving member 820 can extend into the limiting hole 811.

[0132] It should be noted that the positioning mechanism 800, through the cooperation of the second limiting plate 810 and the fifth driving component 820, forms a mechanical locking structure, effectively addressing the off-center load problem caused by the wide-sized seat. The second limiting plate 810 is fixedly connected to the first support member 110 and rotates synchronously with it. Its surface has a matching limiting hole 811, serving as the interface for positioning and locking. The fifth driving component 820 is mounted on the fixed part 153 and rigidly connected to it. Its output end (such as a telescopic pin or piston rod) can perform linear telescopic movement in a preset direction.

[0133] When the robotic arm grips the wide seat, to prevent the first support member 110 from shifting due to a change in center of gravity, the fifth drive member 820 is activated. Its output end extends axially and inserts into the limiting hole 811 of the second limiting plate 810. Through the rigid engagement between the output end of the fifth drive member 820 and the limiting hole 811, the position of the first support member 110 is firmly locked. At this time, the eccentric torque generated by the wide seat is transmitted to the fifth drive member 820 through the second limiting plate 810, and then distributed to the robotic arm through the fixing part 153, preventing the first support member 110 from rotating or wobbling due to force imbalance.

[0134] In some embodiments, please refer to Figure 1A backrest 510 is provided on the side of the second drive member 310 opposite to the second support member 150, and the two ends of the backrest 510 are respectively connected to a first support column 111. When the seat is clamped, the backrest 510 will abut against the back of the seat, thereby protecting the back of the seat from being bumped and damaged.

[0135] In some embodiments, please refer to Figure 1 A pad 520 is provided on the side of the base plate 120 opposite to the pressing mechanism 400, and the orthographic projection of the base plate 120 in the first direction X is completely on the pad 520. It should be noted that the pad 520 has a hole communicating with the channel 140 to allow the pressing part 430 to pass through. The pad 520 can be made of stainless steel to protect the leather seat.

[0136] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0137] The above provides a detailed description of a robotic arm provided in the embodiments of this application. Specific examples have been used in this application to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the technical solutions and core ideas of this application. Those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A robotic arm, characterized in that, The robotic arm, used for gripping the seat, includes: Mounting bracket (100) for connection to the robotic arm; The first clamping mechanism (200) is rotatably connected to one side of the mounting bracket (100); The second clamping mechanism (300) is rotatably connected to the side of the mounting bracket (100) away from the first clamping mechanism (200); the second clamping mechanism (300) and the first clamping mechanism (200) are located on the same side of the mounting bracket (100), and the first clamping mechanism (200) and the second clamping mechanism (300) are spaced apart in the first direction (X); A clamping mechanism (400) is located on the side of the mounting bracket (100) away from the second clamping mechanism (300) in the second direction (Y) and is connected to the mounting bracket (100); The first clamping mechanism (200), the second clamping mechanism (300), and the pressing mechanism (400) can all abut against the seat. The first clamping mechanism (200) and the second clamping mechanism (300) apply force in opposite directions to clamp the seat, and the pressing mechanism (400) applies force in the opposite direction to the second clamping mechanism (300). The first direction (X) intersects with the second direction (Y).

2. The robotic arm according to claim 1, characterized in that, The mounting bracket (100) includes: The first support member (110) has the first clamping mechanism (200) provided on one side in the first direction (X), and the second clamping mechanism (300) is provided on the side of the first support member (110) away from the first clamping mechanism (200); A base plate (120) is disposed on the side of the first support member (110) away from the first clamping mechanism (200) and connected to the first support member (110). The pressing mechanism (400) is disposed on the side of the base plate (120) facing the first support member (110). The base plate (120) has a through groove (121). The clamping mechanism (400) includes: A first mounting plate (410) is connected to the base plate (120), and a first receiving cavity (130) is provided between the first mounting plate (410) and the base plate (120). The first receiving cavity (130) communicates with the through groove (121) to form a channel (140). The third driving component (420) is disposed on the side of the first mounting plate (410) opposite to the base plate (120) and is connected to the first mounting plate (410); The clamping part (430) is at least partially housed within the channel (140). The clamping part (430) is connected to the output end of the third driving member (420). The output end of the third driving member (420) can drive the clamping part (430) to move along the first direction (X) within the channel (140).

3. The robotic arm according to claim 2, characterized in that, The clamping mechanism (400) further includes a plurality of guide portions (440), which are spaced apart from the third drive member (420). A portion of the guide portion (440) is connected to the clamping portion (430) and is capable of moving in the channel (140) along the first direction (X).

4. The robotic arm according to claim 3, characterized in that, The guide portion (440) includes: The inner cylinder (441) extends along the first direction (X) and is connected to the pressing part (430); The outer cylinder (442) is sleeved outside the inner cylinder (441) and slidably connected to the inner cylinder (441), and the outer cylinder (442) is connected to the first mounting plate (410); A first limiting plate (443) is disposed at the end of the inner cylinder (441) away from the pressing part (430), and the outer diameter of the first limiting plate (443) is larger than the inner diameter of the outer cylinder (442).

5. The robotic arm according to claim 2, characterized in that, The first clamping mechanism (200) includes: The first driving member (210) is connected to the first support member (110); The first clamping rod (220) is disposed on the side of the first driving member (210) away from the second clamping mechanism (300) and is rotatably connected to the first support member (110); The first connector (230) is sleeved on the first clamping rod (220) and connected to the output end of the first driving member (210); At least one pressure claw (240) extends along the second direction (Y) and is connected to the first clamping rod (220).

6. The robotic arm according to claim 5, characterized in that, The second clamping mechanism (300) includes: The second driving member (310) is disposed on the side of the first driving member (210) away from the first clamping rod (220) and is connected to the first support member (110); A support base (320) is disposed on the side of the base plate (120) facing the second drive member (310); The second clamping rod (330) is connected to the support base (320); The second connector (340) is sleeved on the second clamping rod (330) and rotatably connected to the second clamping rod (330). The second connector (340) is connected to the output end of the second driving member (310). The bucket (350) is connected to the second connector (340).

7. The robotic arm according to claim 6, characterized in that, The second connector (340) includes: The docking part (341) has one end connected to the output end of the second driving member (310); The third clamping rod (342) is inserted through the end of the docking part (341) away from the second driving member (310) and is connected to the docking part (341); Multiple second connecting plates (343) are arranged at intervals along the axial direction of the third clamping rod (342), and all of the multiple second connecting plates (343) are connected to the third clamping rod (342); A bushing (344) is sleeved on the outside of the second clamping rod (330). The inner wall of the bushing (344) is rotatably connected to the second clamping rod (330), and the outer wall of the bushing (344) is connected to each of the second connecting plates (343).

8. The robotic arm according to claim 7, characterized in that, The second connector (340) also includes: Multiple protrusions (345), each of the second connecting plates (343) having the protrusions (345) protruding on the side away from the third clamping rod (342); The second mounting plate (346) is connected to the side of each of the protrusions (345) away from the second connecting plate (343), and the side of the second mounting plate (346) away from the protrusions (345) is in contact with a portion of the bucket (350).

9. The robotic arm according to claim 6, characterized in that, The mounting bracket (100) further includes a second support member (150), which is disposed on the side of the first support member (110) away from the bucket (350). One end of the second support member (150) is rotatably connected to the first support member (110), and the other end of the second support member (150) is connected to the robotic arm. The robotic arm also includes a flipping mechanism (600), which is connected to the second support member (150) and can drive the first support member (110) to rotate.

10. The robotic arm according to claim 9, characterized in that, The second support member (150) includes: The first connecting part (151) is connected to the first support member (110); A rotating part (152) is disposed on the side of the first connecting part (151) away from the pressing mechanism (400), and the rotating part (152) is connected to the first connecting part (151); The fixing part (153) is rotatably connected to the rotating part (152) on the side away from the first connecting part (151), and the fixing part (153) on the side away from the rotating part (152) is connected to the robotic arm. The flipping mechanism (600) includes: A fourth drive member (620) is disposed on one side of the fixing part (153) in the third direction (Z) and connected to the fixing part (153). The output shaft of the fourth drive member (620) extends along the first direction (X). The second connecting part (630) has one end movably connected to the output end of the fourth driving member (620), and the other end of the second connecting part (630) is connected to the first connecting part (151). The first direction (X), the second direction (Y), and the third direction (Z) intersect each other.

11. The robotic arm according to claim 10, characterized in that, The maximum rotation angle of the second connecting part (630) is 60°.

12. The robotic arm according to claim 10, characterized in that, The flipping mechanism (600) further includes: The third connecting part (640) has one end connected to the output end of the fourth driving member (620); The first rotating shaft (610) is connected to the end of the third connecting part (640) away from the fourth driving member (620), and the second connecting part (630) is rotatably connected to the first rotating shaft (610).

13. The robotic arm according to claim 10, characterized in that, The fixing part (153) includes: The cylindrical body (1531) has at least a portion of the rotating part (152) passing through the cylindrical body (1531) and being rotatably connected to the cylindrical body (1531). A connecting arm (1532) is connected at one end to the cylinder (1531) and at the other end to the robotic arm; the fourth driving member (620) is disposed on one side of the connecting arm (1532) in the third direction (Z) and is connected to the connecting arm (1532).

14. The robotic arm according to claim 13, characterized in that, The robotic arm includes a grip (700) disposed on the side of the connecting arm (1532) away from the second drive member (310) and connected to the connecting arm (1532).

15. The robotic arm according to any one of claims 10 to 14, characterized in that, The robotic arm also includes a positioning mechanism (800), which is disposed on the side of the fixed part (153) away from the second connecting part (630). A part of the positioning mechanism (800) is connected to the fixed part (153), and another part of the positioning mechanism (800) is connected to the first support member (110).

16. The robotic arm according to claim 15, characterized in that, The positioning mechanism (800) includes: The second limiting plate (810) is connected to the first support member (110), and the second limiting plate (810) has a limiting hole (811); The fifth driving member (820) is connected to the fixing part (153), and the output end of the fifth driving member (820) can extend into the limiting hole (811).

Images