CN110896614A

CN110896614A - Snatch mechanism and movable platform

Info

Publication number: CN110896614A
Application number: CN201880016636.1A
Authority: CN
Inventors: 孙泽勇; 卢伟增
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2018-04-25
Filing date: 2018-09-18
Publication date: 2020-03-20
Also published as: WO2019205465A1; CN208584560U

Abstract

The utility model provides a snatch mechanism and movable platform, movable platform includes the fuselage and snatchs the mechanism, wherein snatch the mechanism and include drive assembly (2) and at least a set of centre gripping subassembly (1), centre gripping subassembly (1) are used for centre gripping storage tank (10), drive assembly (2) are used for driving centre gripping subassembly (1) and remove, so that centre gripping subassembly (1) drag storage tank (10) and drive storage tank (10) and use fixed barrier (20) to overturn as the fulcrum, pour the object that holds in storage tank (10), thereby can be swiftly convenient take storage tank (10) and pour out its interior object.

Description

Snatch mechanism and movable platform

Technical Field

The embodiment of the invention relates to the technology of a movable platform, in particular to a grabbing mechanism and a movable platform.

Background

With the continuous development of science and technology, various robots or other self-propelled devices adopting a remote control or automatic control mode are widely applied.

At present, robots or other movable platforms can often perform palletizing tasks, or perform taking of other objects, etc. For example, in some situations, the robot may perform a simulated shooting task, at which time the robot needs to take a cartridge containing the projectiles and take the projectiles from the storage tank; for another example, in some instances, the movable platform may be used to pick up and tip over the waste bin, thereby removing the waste from the bin. Specifically, the storage tank is the top surface opening generally, and the storage tank of taking is convenient for the robot to inside storage object's cube structure, and the storage tank is neatly arranged usually and places, and every storage tank all utilizes one to be square fixed frame and carries on spacingly, highly being less than the height of storage tank along going up of fixed frame to can be in spacing, the storage tank of taking from the outside of fixed frame is convenient for the robot. When the storage tank was taken to the robot, generally need extend the arm to the storage tank top earlier, take out fixed frame with the storage tank along vertical direction again, then translation storage tank to getting the bullet position, turn over after and dump the storage tank, pour the pellet in the storage tank.

However, when the robot takes the storage box, the taking action is slow, which affects the speed of the whole process and consumes more energy.

Disclosure of Invention

The embodiment of the invention provides a grabbing mechanism and a movable platform, which can quickly and conveniently take a storage box.

In a first aspect, an embodiment of the present invention provides a gripping mechanism, including a driving assembly and at least one group of clamping assemblies; the clamping assembly is used for clamping the storage box, and the driving assembly is used for driving the clamping assembly to move, so that the clamping assembly drags the storage box and drives the storage box to overturn by taking the fixed barrier as a fulcrum.

Optionally, the clamping assemblies are two groups, and the two groups of clamping assemblies are arranged side by side.

Optionally, each group of clamping assemblies comprises two parallel clamping arms arranged at intervals, one surface of each clamping arm, which is opposite to the other clamping arm, is provided with a clamping piece for clamping the storage box, and the clamping piece can horizontally rotate relative to the clamping arms; wherein the clamping piece of each clamping arm can move towards the other clamping arm, or each clamping arm can move towards the other clamping arm.

Optionally, a first driving part is arranged between each clamping part and the corresponding clamping arm, and the first driving part is used for driving the clamping parts to move towards the other clamping arm.

Optionally, the first driving member is an air cylinder, a cylinder body of the air cylinder is connected with the clamping arm, a piston rod of the air cylinder is connected with the clamping member, and the piston rod and the cylinder body can rotate relatively.

Optionally, the clamping assembly further comprises a cross beam, the cross beam is connected between the two clamping arms, and the cross beam is used for being abutted to the storage box after being turned.

Optionally, the cross beam and the clamping arm are movably connected, and the cross beam has a variable height position relative to the clamping arm.

Optionally, the clamping arm comprises a horizontal section provided with a clamping piece and an inclined section connected with the beam; the bottom of the inclined section is connected with the horizontal section, and the included angle between the inclined section and the horizontal section is an obtuse angle.

Optionally, a camera is further arranged on the beam.

Optionally, the drive assembly comprises at least one linkage, each linkage comprising a first horizontal arm, a second horizontal arm and at least two connecting rods; the first horizontal arm and the second horizontal arm are both positioned in a vertical plane parallel to the clamping arm, the second horizontal arm is connected with the clamping component, and two ends of the connecting rod are respectively hinged with the first horizontal arm and the second horizontal arm; the connecting rod is used for rotating around the horizontal axis relative to the first horizontal arm so that the second horizontal arm drives the clamping component to move.

Optionally, all the connecting rods are parallel to each other and have the same length.

Optionally, at least one of the link mechanisms includes a first link mechanism and a second link mechanism that are parallel to each other, and the first link mechanism and the second link mechanism are respectively connected to different clamp arms.

Optionally, the first link mechanism is connected with the first clamping arm, the second link mechanism is connected with the second clamping arm, and a distance between the first link mechanism and the second link mechanism is smaller than a distance between the first clamping arm and the second clamping arm.

Optionally, the driving assembly further includes a second driving member, and the second driving member is configured to drive the at least one connecting rod to rotate relative to the first horizontal arm.

Optionally, the driving assembly further includes a transmission mechanism, the transmission mechanism includes a transmission wheel coaxially connected to the horizontal rotating shaft of the connecting rod, and the transmission wheel is used for driving the connecting rod to rotate synchronously under the driving of the second driving member.

Optionally, the fixed barrier is arranged on the grabbing mechanism; alternatively, the fixed barrier is a fixed frame for defining the location of the storage compartment.

In a second aspect, embodiments of the present invention provide a movable platform comprising a body and a gripping mechanism as described above.

The embodiment of the invention provides a grabbing mechanism and a movable platform, wherein the grabbing mechanism specifically comprises a driving assembly and at least one group of clamping assemblies; the clamping assembly is used for clamping the storage box, and the driving assembly is used for driving the clamping assembly to move, so that the clamping assembly drags the storage box and drives the storage box to overturn by taking the fixed barrier as a fulcrum. The grabbing mechanism can take out objects in the storage box by turning over the storage box, and the operation process is simple and rapid.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a gripping mechanism according to an embodiment of the present invention;

FIG. 2 is a top view of a gripping mechanism according to an embodiment of the present invention;

FIG. 3 is a side view of a gripping mechanism provided in accordance with one embodiment of the present invention;

FIG. 4a is a schematic view of a grabbing mechanism provided in an embodiment of the present invention in a state when the storage box starts to drag;

FIG. 4b is a schematic view of a gripping mechanism according to an embodiment of the present invention in a state where the storage compartment is turned upside down;

FIG. 4c is a schematic view of the gripping mechanism of the first embodiment of the present invention in a state where the storage compartment is completely inverted;

FIG. 5a is a schematic view of a clamping assembly according to an embodiment of the present invention in a position before clamping;

fig. 5b is a schematic diagram of a position of the clamping assembly when clamping is completed according to an embodiment of the present invention.

Description of reference numerals:

1. 1a, 1 b-a clamping assembly; 2-a drive assembly; 11. 11a, 11 b-gripping arms; 12-a clamp; 13-a first drive member; 14-a cross beam; 20-fixed obstacles; 21-a linkage mechanism; 21 a-a first linkage; 21 b-a second linkage; 22-a second drive member; 23-a transmission wheel; 24-a drive shaft; 111-horizontal segment; 112-inclined section; 141-a camera; 211-a first horizontal arm; 212-a second horizontal arm; 213-connecting rod.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Generally, the movable platform can be used for carrying out a palletizing task or realizing the taking of objects in other occasions. At this time, the object may be contained in a storage case having a regular shape. The storage tank is usually placed in the assigned position, and the object is held in the storage tank, and the portable platform need take the storage tank from the assigned position to take out or pour the object in the storage tank.

Fig. 1 is a schematic structural diagram of a gripping mechanism according to an embodiment of the present invention. Fig. 2 is a top view of a gripping mechanism according to an embodiment of the present invention. Fig. 3 is a side view of a grasping mechanism according to an embodiment of the present invention. As shown in fig. 1 to 3, in order to take out a storage box, the gripping mechanism provided in this embodiment specifically includes a driving assembly 2 and at least one group of clamping assemblies 1; the clamping assembly 1 is used for clamping the storage box 10, and the driving assembly 2 is used for driving the clamping assembly 1 to move, so that the clamping assembly 1 drags the storage box 10 and drives the storage box 10 to overturn by taking the fixed barrier 20 as a fulcrum, and the overturning is used for dumping objects contained in the storage box.

Fig. 4a is a schematic view of a state of the grabbing mechanism when the storage box starts to drag according to an embodiment of the present invention. Fig. 4b is a schematic view illustrating a state of the grabbing mechanism when the storage box is turned over according to an embodiment of the present invention. Fig. 4c is a schematic view of the grabbing mechanism provided in the first embodiment of the present invention in a state where the storage box is completely turned over. The grabbing mechanism is arranged on the machine body of the movable platform, and the clamping assembly 1 in the grabbing mechanism can move under the driving of the driving assembly 2. The clamping assembly 1 can clamp the storage box 10 and drag the storage box by means of self movement. Generally, the clamping assembly 1 is clamped at the middle-upper portion of the storage box 10, and a fixed barrier 20 is generally disposed near the bottom of the storage box 10. When the clamping assembly 1 pulls the storage box 10 to move, the upper part of the storage box 10 has a tendency to follow the movement of the clamping assembly 1, and the lower part of the storage box 10 meets the fixed obstacle 20 in front during the movement of the clamping assembly 1 and stops moving forwards under the obstruction of the fixed obstacle 20. At this time, the upper portion of the storage box 10 still moves forward along with the movement of the clamping assembly 1, so that the upper portion and the lower portion of the storage box 10 have different moving speeds, the storage box 10 tends to overturn forward, and overturns with the fixed barrier 20 as a pivot under the driving of the driving assembly 2, and at this time, objects such as pills and the like contained in the storage box 10 can be automatically poured out of the storage box 10 and supplied to the movable platform.

Like this, owing to snatch the mechanism and get the bullet through the posture change that produces when storage tank 10 self focus transform, after the 1 centre gripping storage tank 10 of centre gripping subassembly of snatching the mechanism, only need 1 self of centre gripping subassembly to move towards a direction, can drive storage tank 10 and realize removing in proper order, overturn and pour the consecutive action of object. In the whole process of clamping the storage box 10 and taking out the object, the action and the moving mode of the clamping assembly 1 are simple, and the bullet taking process is fast and convenient.

The fixed barrier 20 may be fixed to the placement surface of the storage box 10, or may be a member located on the grasping mechanism. For example, as one of alternative embodiments, the fixed barrier 20 may be provided on the grasping mechanism. At this time, when the movable platform moves to the vicinity of the storage box 10, the fixed obstacle 20 on the grabbing mechanism is close to the bottom of the storage box 10, so that when the clamping assembly 1 clamps the storage box 10 and pulls the storage box 10 to one side, the fixed obstacle 20 on the grabbing mechanism blocks the movement of the bottom of the storage box 10, and the storage box 10 is overturned by taking the fixed obstacle 20 as a fulcrum, so that the object in the storage box 10 is poured out.

As another alternative, the fixed barrier 20 may be a fixed frame for limiting the storage compartment 10. The fixed frame is generally a square frame and the height of the fixed frame is low, typically less than half the height of the storage bin 10. Like this when centre gripping subassembly 1 centre gripping storage tank 10 drags, storage tank 10 upper portion can move under the drive of centre gripping subassembly 1, and the lower part of storage tank 10 can be hindered by fixed frame, therefore storage tank 10 will use fixed frame to overturn as the fulcrum and pour out the object.

In order to provide sufficient ammunition to the movable platform, the gripping mechanism may grip one or more storage bins 10 at a time. In order to clamp a plurality of storage boxes 10 simultaneously, optionally, the clamping assemblies 1 in the grabbing mechanism may be two groups, and the two groups of clamping assemblies are arranged side by side. Therefore, the two groups of clamping assemblies 1 can respectively clamp two storage boxes 10 which are placed side by side and pour out objects in the storage boxes 10. For example, as shown in fig. 2, the grasping mechanism may include a grip assembly 1a and a grip assembly 1 b.

It is understood that the grabbing mechanism may also include more than two sets of clamping assemblies, and the plurality of sets of clamping assemblies 1 may be used for clamping more than two storage cases 10. When the number of the clamping assemblies 1 is plural, the clamping assemblies 1 may be arranged side by side, or may be in other relative position relations, and the present disclosure is not limited thereto.

Alternatively, the clamping assembly 1 may have a variety of different configurations for clamping the storage compartment 10. Optionally, each group of clamping assemblies 1 includes two clamping arms 11 arranged in parallel and at an interval, a clamping piece 12 for clamping the storage box 10 is arranged on one surface of each clamping arm opposite to the other clamping arm, and the clamping piece 12 can horizontally rotate relative to the clamping arm 11; wherein the clamping piece of each clamping arm can move towards the other clamping arm, or each clamping arm can move towards the other clamping arm.

Thus, the two holding arms 11 are arranged in parallel, so that a space for accommodating the storage box 10 can be formed between the two holding arms. Clamping pieces 12 are arranged on each clamping arm, the clamping pieces 12 are used for being in contact with the storage box 10, so that the storage box 10 is clamped between the two clamping arms, and the two clamping pieces are respectively clamped on two opposite sides of the storage box 10. In order to allow the storage box 10 to freely turn over by means of the fixed obstacle 20, the clamping member 12 and the clamping arm 11 can freely rotate, so that the clamping arm 11 can always keep translation or small-angle rotation, and the clamping member 12 and the storage box 10 can rotate around a horizontal rotating shaft at a large angle.

To securely clamp storage compartment 10 between the two clamp arms, the distance between the two clamp members may be increased or decreased to accomplish clamping and releasing of storage compartment 10, or adjusted to a position for clamping a different storage compartment 10.

In particular, the clamping assembly 1 may achieve the distance adjustment between the clamping members 12 in different ways. For example, in an alternative arrangement, each clamp arm may be movable towards the other clamp arm. In this way, the overall spacing between the two clamp arms may be varied, and thus the spacing between the clamp members 12 may be varied, to accomplish clamping and unclamping of different storage compartments 10. The two clamping arms can complete the adjustment of a larger distance between the clamping arms 11 through integral movement, so that the clamping device is suitable for storage boxes 10 with different specifications.

In yet another alternative, the gripping may be achieved by holding the gripping arms 11 stationary and the gripping member of each gripping arm movable towards the other gripping arm. Specifically, the clamping member 12 may be driven by a cylinder or a motor to move toward the other clamping arm, and the clamping arm and the other clamping arm may be kept in a fixed position. Because the clamping arm 11 is integrally fixed, the distance between the two clamping pieces can be adjusted easily, and clamping and loosening can be completed conveniently. Fig. 5a is a schematic diagram of a position of the clamping assembly before clamping according to an embodiment of the present invention. Fig. 5b is a schematic diagram of a position of the clamping assembly when clamping is completed according to an embodiment of the present invention. As shown in fig. 5a and 5b, the clamping members on the two clamping arms of the clamping assembly can move towards each other to clamp the storage compartment 10.

Here, since the storage box 10 is generally square or rectangular, in order to prevent other structures on the clamping arm 11 from obstructing the turning of the storage box 10, the clamping piece 12 is generally disposed at an end region of the clamping arm 11. Thus, the storage case 10 is not easily obstructed by other structures on the holding arm 11 when it is turned over.

In order to securely hold the storage case 10, the contact surface of the holding member 12 and the storage case 10 is usually provided with a non-slip structure, such as non-slip texture or non-slip material. And to avoid damaging the surface of the storage compartment 10 during clamping, the clamping member 12 may be made of a flexible material, such as rubber.

Generally, in order to avoid the small structural change of the clamping assembly 1 during clamping, the clamping of the storage box 10 is generally realized in a manner that the clamping arm 11 is fixed, and the clamping piece 12 can move relative to the clamping arm 11 to the other clamping arm. At this time, in order to drive the clamping member 12 to move, optionally, a first driving member 13 is provided between the clamping member 12 and the corresponding clamping arm, and the first driving member 13 is used for driving the clamping member 12 to move towards the other clamping arm. Thus, the clamping members 12 can be clamped on both sides of the storage box 10 under the driving of the first driving member 13, or the storage box 10 can be released from the clamping of the clamping members 12 after the clamping force of the first driving member 13 is removed.

Optionally, in the clamping assembly 1, one of the clamping arms may be provided with the first driving member 13 and drive the corresponding clamping member to move, while the clamping member on the other clamping arm is fixed, or both of the two clamping arms may be provided with the first driving member 13, and the corresponding clamping members move in opposite directions.

Alternatively, the first driving member 13 may be an air cylinder, a cylinder body of the air cylinder is connected to the clamping arm 11, a piston rod of the air cylinder is connected to the clamping member 12, and the piston rod and the cylinder body can rotate relatively. Thus, the cylinder can push or pull the piston rod by means of gas pressure and drive the clamping piece 12 to clamp the storage box 10. There is usually a certain clearance between the piston and the cylinder body of the cylinder, so that the piston rod and the cylinder body can rotate freely relatively, and the clamping piece 12 connected with the piston rod can also rotate freely relative to the clamping arm 11, so that when the clamping arm 11 drags the storage box 10, the storage box 10 can be turned freely.

In addition, the first driving member 13 may be in other forms, such as a motor, or a driving device commonly used by those skilled in the art, so long as the movement of the clamping member 12 can be realized and the relative free rotation between the clamping member 12 and the clamping arm 11 can be maintained, which is not limited herein.

When the storage box 10 is pulled to turn over by the clamping assembly 1, the turning angle of the storage box 10 needs to be controlled in order to prevent the storage box 10 from turning over on the body of the movable platform. At this time, optionally, the clamping assembly 1 may further include a cross beam 14, the cross beam 14 is connected between the two clamping arms, and the cross beam 14 is used for abutting against the storage box 10 after being turned over.

Typically, the cross member 14 is located at an end of the clamp arm 11 remote from the clamp 12. The cross member 14 has a height such that when the storage compartment 10 is turned over under the drag of the clamping assembly 1 and the block of the fixed barrier 20, it is turned forward over a large angle until the bottom of the storage compartment 10 is turned to a higher position. At this time, the storage box 10 is turned over to a position where the cross member 14 abuts. Due to the blocking of the cross member 14, the storage box 10 cannot be further turned forward, but only at the turning angle, so that the objects in the storage box 10 can be smoothly poured out at the turning angle and supplied to the movable platform.

Alternatively, the cross member 14 and the clamp arm 11 may be movably connected, and the cross member 14 may have a variable height position relative to the clamp arm 11. In this way, the cross beam 14 can be moved relative to the clamp arm 11 and adjusted to different heights relative to the clamp arm 11. Accordingly, the storage compartment 10 is blocked by the cross member 14 in various flip angle positions when it is flipped over. This allows the cross members 14 of different heights to be matched to storage bins 10 of different sizes, or to achieve different toppling states of the storage bin 10, etc.

The cross beam 14 may be implemented with a variable height relative to the clamping arm 11 by a slide rail or a plurality of fixing holes arranged at intervals. For example, the cross member 14 may be slid to different height positions of the clamp arm 11 by using a slide rail, or fixed holes provided at different height positions, or the like. In addition, the cross beam 14 can also be movably connected with the clamping arm 11 in a height adjustable manner in other ways which are commonly used by those skilled in the art and will not be described in detail herein.

In order to facilitate the clamping of the storage compartment 10 and the provision of the cross beam 14 at the same time, the clamping arm 11 optionally comprises a horizontal section 111 provided with the clamping member 12 and an inclined section 112 connected to the cross beam 14; wherein, the bottom of the inclined section 112 is connected with the horizontal section 111, and the included angle between the inclined section 112 and the horizontal section 111 is an obtuse angle. At this time, the clamping member 12 is located on the horizontal section 111 of the clamping arm 11, and the horizontal section of the clamping arm 11 extends toward one side of the storage box 10 and is connected with the inclined section 112 inclined upward, so that the horizontal section 111 of the clamping arm 11 can be protected at both sides of the storage box 10, and the inclined section 112 of the clamping arm 11 can provide a sufficient installation height for the cross beam 14 and a suitable distance between the cross beam 14 and the storage box 10, thereby facilitating the storage box 10 to be tilted.

In addition, optionally, a camera 141 is further disposed on the cross beam 14. The view angle of the camera 141 covers the clamp 12 and the storage box 10, so that the clamping state of the clamping assembly 1 and the posture of the storage box 10 can be observed, and the operation of the ammunition feeding mechanism and the movable platform is facilitated.

The driving assembly 2 may have various forms and structures in order to drive the clamping assembly 1 to move integrally, thereby dragging the storage box 10. In one alternative configuration, the drive assembly 2 comprises at least one linkage 21, each linkage 21 comprising a first horizontal arm 211, a second horizontal arm 212 and at least two connecting rods 213.

The first horizontal arm 211 and the second horizontal arm 212 are both located in a vertical plane parallel to the clamping arm 11, the second horizontal arm 212 is connected with the clamping assembly 1, and two ends of the connecting rod 213 are hinged to the first horizontal arm 211 and the second horizontal arm 212 respectively; the connecting rod 213 is used for rotating around the horizontal axis relative to the first horizontal arm 211, so that the second horizontal arm 212 drives the clamping assembly 1 to move.

At this time, the first horizontal arm 211 in the driving assembly 2 may serve as a frame of the entire link mechanism 21 and be fixedly connected with the body of the movable platform. When the movable platform takes the storage box 10, the body of the movable platform and the placing surface of the storage box 10 are relatively static, so that the first horizontal arm 211 is also kept static with the placing surface of the storage box 10, and the connecting rod 213 and the first horizontal arm 211 move relative to the first horizontal arm 211. The first horizontal arm 211 and the second horizontal arm 212 are both located in a vertical plane parallel to the holding arm 11, so that the second horizontal arm 212 can move the holding arm 11 together.

In the link mechanism 21, both ends of each connecting rod 213 are hinged to the first horizontal arm 211 and the second horizontal arm 212, so that the first horizontal arm 211, the second horizontal arm 212 and the connecting rod 213 form a four-bar linkage in a quadrilateral shape. Because the shape of the quadrangle is unstable, when the first horizontal arm 211 is fixed and the connecting rod 213 rotates relative to the hinge point between itself and the first horizontal arm 211, the second horizontal arm 212 is driven by the connecting rod 213 to move together, and further, the clamping assembly 1 connected to the second horizontal arm 212 is driven to move together. Therefore, the second horizontal arm 212 can drive the whole clamping assembly 1 to move only by controlling the rotation of the connecting rod 213, so as to drag the storage box 10.

Further, all the connecting rods 213 may be kept parallel to each other, and all the connecting rods 213 have the same length. At this time, the connecting rod 213, the first horizontal arm 211 and the second horizontal arm 212 together form a four-bar linkage. At this time, the opposite sides of the four-bar linkage are parallel and equal in length, so that the first horizontal arm 211 and the second horizontal arm 212 are always kept parallel to each other. Therefore, the second horizontal arm 212 always keeps translating, and correspondingly, the clamping assembly 1 also keeps translating, and the movement is regular when the storage box 10 is dragged, so that the working reliability is high.

In order to drive the connecting rods 213 of the linkage 21 to rotate, the driving assembly 2 further comprises a second driving member 22, wherein the second driving member 22 is used for driving at least one connecting rod 213 to rotate relative to the first horizontal arm 211. Thus, when the connecting rod 213 rotates, the second horizontal arm 212 is driven to move. The second driving member 22 may be a cylinder or an electric motor, which is a driving form commonly used by those skilled in the art, and is not limited herein.

Alternatively, the connecting rod 213 may be directly connected to the second driving member 22 or indirectly connected through a transmission mechanism. As an alternative, the driving assembly 2 further includes a transmission mechanism, the transmission mechanism includes a transmission wheel 23 coaxially connected to the horizontal rotation shaft of the connecting rod 213, and the transmission wheel 23 is used for driving the connecting rod 213 to rotate synchronously under the driving of the second driving member 22.

Wherein, the rotating shafts of the driving wheel 23 and the connecting rod 213 are coaxially arranged, and the driving wheel 23 and the connecting rod 213 synchronously rotate. Thus, when the second driving member 22 drives the transmission wheel 23 to rotate, the connecting rod 213 will rotate synchronously with it and drive the rest of the mechanisms to move.

Alternatively, the transmission wheel 23 may be in the form of a gear, a synchronous wheel or a chain wheel, which is not limited herein.

Alternatively, since each clamp assembly 1 includes two clamp arms 11 parallel to each other, the at least one linkage 21 may include a first linkage 21a and a second linkage 21b parallel to each other, and the first linkage 21a and the second linkage 21b are respectively connected to different clamp arms. Like this first link mechanism 21a and second link mechanism 21b can drive the removal of centre gripping subassembly 1 simultaneously from both sides simultaneously, and the atress of centre gripping subassembly 1 is more balanced on the one hand, and on the other hand single link mechanism's atress is less, and the reliability is higher.

Generally, in order to allow the first linkage 21a and the second linkage 21b to move synchronously in a clasping manner, the first linkage 21a and the second linkage 21b are usually connected by a transmission shaft 24. Thus, the first link mechanism 21a and the second link mechanism 21b can be linked.

Generally, since the grasping mechanism includes one or more than one grasping unit 1, the first link mechanism 21a and the second link mechanism 21b may be connected to the same grasping unit 1 or different grasping units 1. When the grabbing mechanism comprises a clamping component 1, the first connecting rod mechanism 21a and the second connecting rod mechanism 21b can be respectively connected to different clamping arms of the clamping component 1, at the moment, the two clamping arms are driven by different connecting rod mechanisms, and when the first connecting rod mechanism 21a and the second connecting rod mechanism 21b are synchronously driven, the two clamping arms can be driven to synchronously move, so that the two different clamping arms of the clamping component 1 can be driven, and the stress is balanced.

And when the grabbing mechanism comprises more than one clamping assembly, for example, two clamping assemblies, the first link mechanism 21a and the second link mechanism 21b can be respectively connected to different clamping assemblies, so that different clamping assemblies can be driven by the link mechanism 21 and correspondingly move, and the stress is relatively balanced. Generally, the first linkage 21a and the second linkage 21b will be symmetrically disposed with respect to the arrangement direction of all the clamping assemblies, for example, connected to the two outermost clamping arms of all the clamping assemblies.

When the grabbing mechanism comprises more than two clamping components, the clamping components which are not connected with the link mechanism 21 can be connected with other clamping components by virtue of connecting pieces, and synchronous movement is realized under the driving of the clamping components which are directly connected with the link mechanism 21.

When the storage box 10 is held by the clamping arms 11 of the clamping assembly 1, a larger span is required to be formed between the two clamping arms as much as possible; however, the plurality of link mechanisms connected to the clamp arm 11 are usually moved in synchronization with each other by using the transmission shaft 24 or the transmission rod, and the transmission shaft 24 should be kept short. In order to take account of the structures of the clamp assembly 1 and the link mechanism 21, optionally, when the plurality of link mechanisms includes the first link mechanism 21a and the second link mechanism 21b, the first link mechanism 21a is connected to the first clamp arm 11a, the second link mechanism 21b is connected to the second clamp arm 11b, and a distance between the first link mechanism 21a and the second link mechanism 21b is smaller than a distance between the first clamp arm 11a and the second clamp arm 11 b.

The first holding arm 11a and the second holding arm 11b may be two different holding arms of the same holding assembly, or may be holding arms located on different holding assemblies. A larger distance and span can be maintained between the first and second gripper arms 11a and 11b, but the first and

second linkages

21a and 21b are closer to each other, so that the two linkages can be connected by using a shorter transmission shaft 24, and thus the transmission shaft 24 can have a more compact size and better rigidity.

In this embodiment, the grasping mechanism specifically includes a driving assembly and at least one set of clamping assemblies; the clamping assembly is used for clamping the storage box, and the driving assembly is used for driving the clamping assembly to move, so that the clamping assembly drags the storage box and drives the storage box to overturn by taking the fixed barrier as a fulcrum. The grabbing mechanism can take out objects in the storage box by turning over the storage box, and the operation process is simple and rapid.

The second embodiment of the invention also provides a movable platform. The movable platform in this embodiment specifically includes a body and the grasping mechanism in the first embodiment. The specific structure, function and operation principle of the grasping mechanism are described in detail in the first embodiment, and are not described herein again. Wherein, the movable platform can be a movable object such as a robot, a garbage collection vehicle, an unmanned aerial vehicle and the like.

The movable platform comprises a machine body, a clamping assembly and a movable platform, wherein the clamping assembly is arranged on the machine body, the clamping assembly in the clamping mechanism can move under the driving of the driving assembly, so that a storage box is clamped and dragged towards the movable platform, the storage box can be overturned under the blocking of a fixed barrier, and an object in the storage box can be directly poured out. In this way, the movable platform can handle or utilize the objects originally in the storage box. For example, when the object is a projectile, the body of the movable platform may be further provided with a projectile feeding device, a shooting device, and the like. After the bullet supply device collects the bullets in the storage box, the bullets can be supplied to the shooting device to shoot the bullets.

In this embodiment, the movable platform specifically includes a body and a grasping mechanism; the grabbing mechanism specifically comprises a driving assembly and at least one group of clamping assemblies; the clamping assembly is used for clamping the storage box, and the driving assembly is used for driving the clamping assembly to move, so that the clamping assembly drags the storage box and drives the storage box to overturn by taking the fixed barrier as a fulcrum. When the storage box is taken by the movable platform, the storage box can be directly dragged, and objects in the storage box can be taken out by turning over the storage box, so that the operation process is simple and rapid.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. The grabbing mechanism is characterized by comprising a driving assembly and at least one group of clamping assemblies; the clamping assembly is used for clamping the storage box, the driving assembly is used for driving the clamping assembly to move, so that the clamping assembly drags the storage box and drives the storage box to overturn by taking a fixed barrier as a fulcrum, and the overturning is used for dumping objects contained in the storage box.

2. The grasping mechanism according to claim 1, wherein the gripping assemblies are in two groups, and the two groups of gripping assemblies are arranged side by side.

3. The grasping mechanism according to claim 1, wherein each set of the grasping assemblies includes two parallel and spaced grasping arms, a grasping member for grasping the storage box is provided on a side of each grasping arm opposite to the other grasping arm, and the grasping member is horizontally rotatable with respect to the grasping arms;

wherein the clamp of each clamp arm is movable towards the other clamp arm, or each clamp arm is movable towards the other clamp arm.

4. The grasping mechanism according to claim 3, wherein a first driving member is provided between each of the gripping members and the corresponding gripping arm for driving the gripping members to move toward the other gripping arm.

5. The grasping mechanism according to claim 4, wherein the first driving member is a cylinder, a cylinder body of the cylinder is connected to the grasping arm, a piston rod of the cylinder is connected to the grasping member, and the piston rod and the cylinder body are rotatable relative to each other.

6. The grasping mechanism according to any one of claims 3 to 5, wherein the clamp assembly further includes a cross member connected between the two clamp arms, the cross member being configured to abut the storage bin after being flipped.

7. The grasping mechanism according to claim 6, wherein the cross member and the grasping arm are movably connected, and wherein the cross member has a variable height position relative to the grasping arm.

8. The grasping mechanism according to claim 6, wherein the clamp arm includes a horizontal section provided with the clamp and an inclined section connected to the cross beam; the bottom of the inclined section is connected with the horizontal section, and an included angle between the inclined section and the horizontal section is an obtuse angle.

9. The grasping mechanism according to claim 6, wherein a camera is further provided on the cross beam.

10. The grasping mechanism according to any one of claims 3 to 5, wherein the drive assembly includes at least one linkage mechanism, each of the linkage mechanisms including a first horizontal arm, a second horizontal arm, and at least two connecting rods;

the first horizontal arm and the second horizontal arm are both positioned in a vertical plane parallel to the clamping arm, the second horizontal arm is connected with the clamping component, and two ends of the connecting rod are respectively hinged with the first horizontal arm and the second horizontal arm;

the connecting rod is used for rotating around a horizontal axis relative to the first horizontal arm so that the second horizontal arm drives the clamping component to move.

11. The grasping mechanism according to claim 10, wherein all of the connecting rods are parallel to each other and have the same length.

12. The grasping mechanism according to claim 10, wherein the at least one linkage includes a first linkage and a second linkage parallel to each other, the first linkage and the second linkage being connected to different gripper arms, respectively.

13. The grasping mechanism according to claim 12, wherein the first linkage is connected to a first grasping arm and the second linkage is connected to a second grasping arm, and a spacing between the first linkage and the second linkage is less than a spacing between the first grasping arm and the second grasping arm.

14. The grasping mechanism according to claim 10, wherein the drive assembly further includes a second drive for rotating at least one of the connecting rods relative to the first horizontal arm.

15. The grasping mechanism according to claim 14, wherein the driving assembly further includes a transmission mechanism including a transmission wheel coaxially coupled to the horizontal rotation axis of the connecting bar, the transmission wheel being configured to rotate the connecting bar synchronously under the driving of the second driving member.

16. The grasping mechanism according to any one of claims 1 to 5, wherein the fixed obstacle is disposed on the grasping mechanism; or, the fixed barrier is a fixed frame for defining the position of the storage box.

17. A movable platform is characterized by comprising a machine body and a grabbing mechanism;

the grabbing mechanism comprises a driving assembly and at least one group of clamping assemblies; the clamping assembly is used for clamping the storage box, the driving assembly is used for driving the clamping assembly to move, so that the clamping assembly drags the storage box and drives the storage box to overturn by taking a fixed barrier as a fulcrum, and the overturning is used for dumping objects contained in the storage box.

18. The movable platform of claim 17, wherein the clamping assemblies are two sets and the two sets of clamping assemblies are arranged side-by-side.

19. The movable platform of claim 17, wherein each set of clamping assemblies comprises two parallel and spaced clamping arms, a clamping member for clamping the storage box is disposed on a surface of each clamping arm opposite to the other clamping arm, and the clamping members can horizontally rotate relative to the clamping arms;

20. The movable platform of claim 19, wherein a first drive member is disposed between each clamp member and the corresponding clamp arm for driving the clamp member toward the other clamp arm.

21. The movable platform of claim 20, wherein the first driving member is a cylinder, a cylinder body of the cylinder is connected to the clamping arm, a piston rod of the cylinder is connected to the clamping member, and the piston rod and the cylinder body are rotatable relative to each other.

22. The movable platform of any one of claims 19-21, wherein the clamp assembly further comprises a cross-beam connected between the two clamp arms, the cross-beam configured to abut the storage bin after being flipped.

23. The movable platform of claim 22, wherein the beam and the clamp arm are movably connected, and wherein the beam has a variable height position relative to the clamp arm.

24. The movable platform of claim 22, wherein the clamp arm includes a horizontal section provided with the clamp and an inclined section connected to the beam; the bottom of the inclined section is connected with the horizontal section, and an included angle between the inclined section and the horizontal section is an obtuse angle.

25. The movable platform of claim 22, wherein a camera is further disposed on the beam.

26. The movable platform of any one of claims 19-21, wherein the drive assembly comprises at least one linkage, each linkage comprising a first horizontal arm, a second horizontal arm, and at least two connecting rods;

27. The movable platform of claim 26 in which all of the connecting rods are parallel to each other and have the same length.

28. The movable platform of claim 26, wherein the at least one linkage comprises first and second linkages parallel to each other, the first and second linkages being connected to different clamp arms, respectively.

29. The movable platform of claim 28, wherein the first linkage is connected to a first clamp arm and the second linkage is connected to a second clamp arm, and wherein a spacing between the first linkage and the second linkage is less than a spacing between the first clamp arm and the second clamp arm.

30. The movable platform of claim 26, wherein the drive assembly further comprises a second drive for rotating at least one of the connecting rods relative to the first horizontal arm.

31. The movable platform of claim 30, wherein the driving assembly further comprises a transmission mechanism, the transmission mechanism comprising a transmission wheel coaxially connected to the horizontal rotation axis of the connecting rod, the transmission wheel being configured to drive the connecting rod to rotate synchronously under the driving of the second driving member.

32. The movable platform of any one of claims 17-21, wherein the fixed barrier is disposed on the grasping mechanism; or, the fixed barrier is a fixed frame for defining the position of the storage box.