CN210551349U

CN210551349U - Robot

Info

Publication number: CN210551349U
Application number: CN201921245663.4U
Authority: CN
Inventors: 王秀建; 章建斌; 穆方波
Original assignee: Zhejiang Dahua Robot Technology Co ltd
Current assignee: Zhejiang Huaray Technology Co Ltd
Priority date: 2019-08-02
Filing date: 2019-08-02
Publication date: 2020-05-19
Anticipated expiration: 2029-08-02

Abstract

The utility model provides a robot, this robot includes: a body; the holding mechanism is movably arranged on the body and has a working state and an avoiding state which are arranged oppositely, when the holding mechanism is in the working state, the holding mechanism at least partially protrudes to the outer side of the body so as to utilize the holding mechanism to carry the robot, and when the holding mechanism is in the avoiding state, the holding mechanism is positioned in the body. Through the technical scheme that this application provided, can solve the problem of the transport of being not convenient for among the prior art.

Description

Robot

Technical Field

The utility model relates to a robotechnology field particularly, relates to a robot.

Background

Generally, when a road which is not suitable for the inspection robot to walk is encountered, the inspection robot needs to be transported. However, in the prior art, the inspection robot is not provided with a conveying structure, and when the inspection robot is conveyed, the inspection robot can only be conveyed by taking the shell as a stress point, so that the inspection robot has the defect of inconvenient conveying. Therefore, the prior art has the problem of inconvenient transportation.

SUMMERY OF THE UTILITY MODEL

The utility model provides a robot to solve the problem of the transport of not being convenient for among the prior art.

The utility model provides a robot, robot includes: a body; the holding mechanism is movably arranged on the body and has a working state and an avoiding state which are arranged oppositely, when the holding mechanism is in the working state, the holding mechanism at least partially protrudes to the outer side of the body so as to utilize the holding mechanism to carry the robot, and when the holding mechanism is in the avoiding state, the holding mechanism is positioned in the body.

Further, the body has an inner cavity, and the gripping mechanism includes: the fixing part is fixedly arranged on the body and is positioned in the inner cavity; the holding part is connected with the fixing part and can move relative to the fixing part, when the holding part is positioned in the inner cavity, the holding mechanism is in an avoiding state, and when at least part of the holding part is positioned on the outer side of the body, the holding mechanism is in a working state.

Further, the holding mechanism further comprises: the position adjusting assembly is arranged between the fixing portion and the holding portion and used for adjusting the length of the holding portion extending out of the body.

Further, the position adjustment assembly includes: the first adjusting groove is arranged on the side wall of the fixing part, and the extending direction of the first adjusting groove is the same as the axial direction of the fixing part; the second adjusting groove is arranged on the side wall of the holding part, the extending direction of the second adjusting groove is the same as the axial direction of the holding part, and the second adjusting groove is arranged corresponding to the first adjusting groove; the limiting piece is arranged between the first adjusting groove and the second adjusting groove in a position-adjustable manner.

Furthermore, the holding mechanism further comprises a first elastic piece, the first elastic piece is arranged between the fixing portion and the holding portion, one end of the first elastic piece is connected with the fixing portion, the other end of the first elastic piece is connected with the holding portion, and the first elastic piece is used for driving the holding mechanism to be switched between the working state and the avoiding state.

Further, the robot also comprises a locking assembly, the locking assembly is arranged between the fixing portion and the holding portion, the locking assembly has a locking state and an unlocking state, when the locking assembly is in the locking state, the locking assembly fixes the relative positions of the fixing portion and the holding portion, and when the locking assembly is in the unlocking state, the holding portion can move relative to the fixing portion.

Further, the locking assembly includes: the rotating piece is rotatably arranged in the inner cavity and provided with a limiting end, and the limiting end is provided with a locking position and an unlocking position; the limiting groove is arranged on the holding part, when the limiting end is positioned at the locking position, the limiting end is in limiting fit with the limiting groove, and the locking assembly is in a locking state; when the limiting end is located at the unlocking position, the limiting end is separated from the limiting groove, and the locking assembly is in an unlocking state.

Furthermore, the locking assembly further comprises a second elastic piece, the second elastic piece is in driving connection with the rotating piece, and the second elastic piece is used for driving the limiting end of the rotating piece to rotate to the locking position.

Further, the robot further comprises a driving piece, the driving piece is rotatably arranged on the body, and the driving piece is used for driving the limiting end of the rotating piece to rotate to the unlocking position from the locking position.

Furthermore, the body is provided with an opening, the holding part is arranged corresponding to the opening, the holding part can extend out of the opening, the driving part is rotatably arranged at the opening, the driving part is provided with a covering position for covering the opening and an opening position for opening the opening, the driving part is provided with a bending part, and the bending part is arranged corresponding to the rotating part; when the driving piece is positioned at the covering position, the bending part is separated from the rotating piece, the holding mechanism is in an avoiding state, and the locking assembly is in a locking state; when the driving piece is located at the opening position, the bending part is abutted to the rotating piece so as to drive the limiting end of the rotating piece to rotate to the unlocking position from the locking position, and the first elastic piece drives the holding part to extend out of the opening so as to enable the holding mechanism to be in a working state.

Further, the robot comprises a plurality of holding mechanisms, and the holding mechanisms are arranged on the body at intervals along the circumferential direction.

Further, the body includes casing and frame, and the mechanism of gripping movably sets up on the frame, and when the mechanism of gripping is in operating condition, the mechanism of gripping is at least partly outstanding to the casing outside, and when the mechanism of gripping is in dodging the state, the mechanism of gripping is located the casing.

Use the technical scheme of the utility model, this robot includes the body and grips the mechanism. The holding mechanism is movably arranged on the body and has a working state and an avoiding state which are oppositely arranged. When the holding mechanism is in a working state, the holding mechanism at least partially protrudes to the outer side of the body so as to carry the robot by utilizing the holding mechanism; when the holding mechanism is in an avoiding state, the holding mechanism is positioned in the body so as to avoid the influence of the holding mechanism on the walking or working of the robot.

Drawings

The accompanying drawings, which form a part of the present application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 shows a front view of a robot provided by the present invention;

fig. 2 shows a rear view of the robot provided by the present invention;

FIG. 3 shows a schematic structural view of the gripping mechanism of FIG. 1;

FIG. 4 is a schematic view of the actuator of FIG. 1 in an open position;

fig. 5 shows a schematic view of the drive member of fig. 1 in a covering position.

Wherein the figures include the following reference numerals:

10. a body; 11. an opening; 12. a housing; 13. a frame;

20. a holding mechanism; 21. a fixed part; 22. a grip portion; 23. a position adjustment assembly; 231. a first regulating groove; 232. a second regulating groove; 233. a limiting member; 24. a first elastic member;

30. a locking assembly; 31. a rotating member; 311. a limiting end; 32. a limiting groove; 33. a second elastic member;

40. a drive member; 41. a bending part.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

As shown in fig. 1 to 3, an embodiment of the present invention provides a robot, which includes a body 10 and a holding mechanism 20. Wherein, the holding mechanism 20 is movably disposed on the main body 10. Specifically, the gripping mechanism 20 has an operating state and an avoiding state which are oppositely arranged, when the gripping mechanism 20 is in the operating state, the gripping mechanism 20 at least partially protrudes to the outside of the body 10 so as to carry the robot by using the gripping mechanism 20, and when the gripping mechanism 20 is in the avoiding state, the gripping mechanism 20 is located in the body 10. When the robot runs on a road which is not suitable for the robot to walk, the holding mechanism 20 is switched to the working state so as to carry the robot by using the holding mechanism 20, and after the robot is carried, the holding mechanism 20 is switched to the avoiding state so as to avoid the influence of the holding mechanism 20 on the walking or the working of the robot.

By applying the robot provided by the embodiment, the holding mechanism 20 is movably disposed on the body 10, when the robot needs to be transported, the holding mechanism 20 is switched to the working state, at this time, the robot can be transported by using the holding mechanism 20, and after the robot is transported, the holding mechanism 20 is switched to the avoiding state, so that the influence of the holding mechanism 20 on the walking or working of the robot can be avoided. Further, when the robot does not need to be transported, the gripping mechanism 20 is kept in the retracted state, and the appearance of the apparatus can be improved.

Specifically, the body 10 has an inner cavity, and the holding mechanism 20 includes a fixing portion 21 and a holding portion 22. Wherein, the fixing portion 21 is fixedly disposed on the body 10, and the fixing portion 21 is located in the inner cavity. By connecting the grip portion 22 to the fixing portion 21, the grip portion 22 can be moved relative to the fixing portion 21, and the state of the grip mechanism 20 can be selected according to the use situation. Specifically, when the grip portion 22 is located in the inner cavity, the gripping mechanism 20 is in the avoiding state, and when the grip portion 22 is located at least partially outside the body 10, the gripping mechanism 20 is in the working state. In the present embodiment, the holding portion 22 has a through hole, and the fixing portion 21 is inserted into the through hole of the holding portion 22.

The holding mechanism 20 further includes a position adjusting component 23, the position adjusting component 23 is disposed between the fixing portion 21 and the holding portion 22, and the length of the holding portion 22 extending from the body 10 can be adjusted by the position adjusting component 23, so as to set the length of the holding portion 22 extending according to actual use conditions.

As shown in fig. 4 and 5, the position adjusting assembly 23 includes a first adjusting groove 231, a second adjusting groove 232, and a limiting member 233. The first adjustment groove 231 is disposed on a side wall of the fixing portion 21, an extending direction of the first adjustment groove 231 is the same as an axial direction of the fixing portion 21, the second adjustment groove 232 is disposed on a side wall of the holding portion 22, an extending direction of the second adjustment groove 232 is the same as the axial direction of the holding portion 22, and the second adjustment groove 232 is disposed corresponding to the first adjustment groove 231. With the above-mentioned structure, the position of the limiting member 233 is adjustably disposed between the first adjusting groove 231 and the second adjusting groove 232, when the holding mechanism 20 is switched to the operating state, the position of the holding portion 22 can be limited by the limiting member 233, so as to prevent the holding portion 22 from being separated from the through hole of the fixing portion 21, and the limiting member 233 can guide the holding portion 22, so that the holding portion 22 moves along the extending direction of the first adjusting groove 231. Further, by adjusting the position of the limiting member 233 in the second adjusting groove 232, the length of the extension of the grip portion 22 from the body 10 can be adjusted. In the present embodiment, the limiting member 233 includes a screw rod and a nut, and the screw rod is inserted into the first adjusting groove 231 and the second adjusting groove 232.

In order to improve the convenience of the device, the holding mechanism 20 further includes a first elastic member 24, and the first elastic member 24 is disposed between the fixing portion 21 and the holding portion 22. By connecting one end of the first elastic member 24 to the fixed portion 21 and connecting the other end of the first elastic member 24 to the grip portion 22, the grip mechanism 20 can be driven to switch between the operating state and the retracted state by the first elastic member 24. Specifically, the first elastic member 24 is a first spring, one end of the first spring abuts against the fixing portion 21, and the other end of the first spring abuts against the holding portion.

As shown in fig. 4 and 5, the robot further includes a locking assembly 30, and the locking assembly 30 is disposed between the fixing portion 21 and the holding portion 22. Specifically, the locking assembly 30 has a locked state and an unlocked state, and when the locking assembly 30 is in the locked state, the locking assembly 30 fixes the relative positions of the fixing portion 21 and the holding portion 22 so as to keep the holding mechanism 20 in the retracted state; when the locking assembly 30 is in the unlocked state, the holding portion 22 can move relative to the fixing portion 21 to switch the holding mechanism 20 to the working state.

Specifically, the locking assembly 30 includes a rotation member 31 and a limit groove 32. The rotating member 31 is rotatably disposed in the inner cavity, and the rotating member 31 has a limiting end 311, and the limiting end 311 has a locking position and an unlocking position. The limiting groove 32 is arranged on the holding part 22, when the limiting end 311 is located at the locking position, the limiting end 311 is in limiting fit with the limiting groove 32, and the locking assembly 30 is in the locking state; when the limiting end 311 is located at the unlocking position, the limiting end 311 is separated from the limiting groove 32, and the locking assembly 30 is in the unlocking state. Specifically, the middle part of the rotating member 31 is hinged to the fixing part 21, one end of the rotating member 31 is a limiting end 311, the other end of the rotating member 31 is a free end, and a limiting boss is arranged on the limiting end 311. When the limiting end 311 is located at the locking position, the limiting boss extends into the limiting groove 32 to switch the locking assembly 30 to the locking state; when the limiting end 311 is located at the unlocking position, the limiting boss is disengaged from the limiting groove 32, so that the locking assembly 30 is switched to the unlocking state.

The locking assembly 30 further includes a second elastic element 33, the second elastic element 33 is in driving connection with the rotating element 31, and the second elastic element 33 is used for driving the limiting end 311 of the rotating element 31 to rotate to the locking position. Specifically, the second elastic element 33 is a second spring, one end of the second spring abuts against the free end of the rotating element 31, and the other end of the second spring abuts against the outer wall of the fixing portion 21.

As shown in fig. 4 and 5, the robot further includes a driving member 40, the driving member 40 is rotatably disposed on the body 10, and the driving member 40 is used for driving the limiting end 311 of the rotating member 31 to rotate from the locking position to the unlocking position.

Specifically, the main body 10 has an opening 11, and the holding portion 22 is disposed corresponding to the opening 11, so that when the holding mechanism 20 is switched to the working state, the holding portion 22 can extend out from the opening 11, and the robot can be conveniently carried by using the holding portion 22. The driving member 40 is rotatably disposed at the opening 11, the driving member 40 has a covering position for covering the opening 11 and an opening position for opening the opening 11, and the driving member 40 has a bending portion 41, and the bending portion 41 is disposed corresponding to the rotating member 31. When the driving element 40 is located at the covering position, the bending portion 41 is separated from the rotating element 31, the holding mechanism 20 is in the avoiding state, and the locking assembly 30 is in the locking state; when the driving member 40 is located at the open position, the bending portion 41 abuts against the rotating member 31 to drive the limiting end 311 of the rotating member 31 to rotate from the locked position to the unlocked position, and at this time, the first elastic member 24 drives the holding portion 22 to extend out from the opening 11, so that the holding mechanism 20 is in the working state.

In this embodiment, the middle of the driving member 40 is hinged to the body 10, one end of the driving member 40 is a bent portion 41, the other end of the driving member 40 is a fixing portion, the fixing portion is a U-shaped structure, and a clamping boss is disposed on the fixing portion. When the driving member 40 rotates to the covering position, the body 10 is clamped by the clamping boss, so as to fix the driving member 40.

As shown in fig. 3, in order to further facilitate the transportation of the robot, the robot includes a plurality of gripping mechanisms 20, and the gripping mechanisms 20 are provided on the body 10 at intervals in the circumferential direction. Furthermore, each gripping mechanism 20 is provided with a driving member 40 and a locking assembly 30. In the present embodiment, the robot includes four holding mechanisms 20, wherein two holding mechanisms 20 are disposed at intervals at the front of the robot, and the other two holding mechanisms 20 are disposed at intervals at the rear of the robot. Each gripping mechanism 20 can be controlled to operate individually, the gripping mechanism 20 on the left side in fig. 3 is in an operating state, and the gripping mechanism 20 on the right side in fig. 3 is in a retracted state.

In the prior art, in order to reduce the weight of the robot, the housing of the robot is usually made of plastic, and when the robot is transported by taking the housing as a stress point, the housing made of plastic is easily damaged by external force. In the embodiment, the body 10 includes a housing 12 and a frame 13, the holding mechanism 20 is movably disposed on the frame 13, when the holding mechanism 20 is in an operating state, the holding mechanism 20 at least partially protrudes outside the housing 12, and when the holding mechanism 20 is in a retracted state, the holding mechanism 20 is located in the housing 12. By adopting the structure, the stress points of the robot are all on the inner metal frame 13 during carrying, and the plastic shell is not influenced.

When the robot needs to be carried, the driving part 40 is buckled from the body 10, the driving part 40 is turned downwards, the driving part 40 can be rotated from the covering position to the opening position, when the bending part 41 of the driving part 40 is abutted to the rotating part 31, the rotating part 31 can be rotated, so that the rotating part 31 can be moved to the unlocking position, at the moment, the limiting boss can be separated from the limiting groove 32, so that the locking assembly 30 is switched to the unlocking state, then the first elastic part 24 drives the holding part 22 to extend out from the opening 11, so that the holding mechanism 20 is in the working state, and a worker can lift the holding part 22 to carry the robot. After the robot is transported, the holding part 22 is pushed back into the fixing part 21, the driving element 40 is rotated from the open position to the covering position, the locking assembly 30 is switched to the locking state to lock the holding part 22, and the driving element 40 is matched with the shell 12, so that the holding mechanism 20 is prevented from being exposed, and the appearance attractiveness of the device can be improved.

The device provided by the embodiment has the following advantages:

(1) the holding mechanism 20 is movably arranged on the body 10, and when the robot needs to be carried, the holding part 22 extends out of the shell 12, so that the robot can be carried conveniently by using the holding part 22; after the robot is transported, the holding portion 22 is pushed back into the housing 12, so that the holding mechanism 20 is prevented from affecting the walking or working of the robot.

(2) A locking unit 30 is provided between the fixing portion 21 and the grip portion 22, and can lock the grip mechanism 20 so that the grip mechanism 20 is held in the retracted state.

(3) The main body 10 is provided with a driver 40, and the gripping mechanism 20 can be switched between the operating state and the retracted state by the driver 40.

(4) The device that this embodiment provided has simple structure, reliable and stable advantage, does not have similar structure in the robot field.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

Unless specifically stated otherwise, the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the orientation words such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, and in the case of not making a contrary explanation, these orientation words do not indicate and 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 interpreted as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and if not stated otherwise, the terms have no special meaning, and therefore, the scope of the present invention should not be construed as being limited.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot, characterized in that the robot comprises:

a body (10);

the holding mechanism (20) is movably arranged on the body (10), the holding mechanism (20) has a working state and an avoiding state which are arranged oppositely, when the holding mechanism (20) is in the working state, the holding mechanism (20) at least partially protrudes to the outer side of the body (10) so as to utilize the holding mechanism (20) to carry the robot, and when the holding mechanism (20) is in the avoiding state, the holding mechanism (20) is positioned in the body (10).

2. The robot according to claim 1, characterized in that said body (10) has an internal cavity, said gripping means (20) comprising:

the fixing part (21) is fixedly arranged on the body (10), and the fixing part (21) is positioned in the inner cavity;

the holding portion (22) is connected with the fixing portion (21), the holding portion (22) can move relative to the fixing portion (21), when the holding portion (22) is located in the inner cavity, the holding mechanism (20) is in the avoiding state, and when the holding portion (22) is located at least partially on the outer side of the body (10), the holding mechanism (20) is in the working state.

3. The robot according to claim 2, wherein the gripping mechanism (20) further comprises:

the position adjusting assembly (23) is arranged between the fixing portion (21) and the holding portion (22), and the position adjusting assembly (23) is used for adjusting the length of the protruding portion (22) of the holding portion (10).

4. Robot according to claim 3, characterized in that said position adjustment assembly (23) comprises:

a first adjusting groove (231) provided on a side wall of the fixing portion (21), an extending direction of the first adjusting groove (231) being the same as an axial direction of the fixing portion (21);

a second adjusting groove (232) arranged on the side wall of the holding part (22), wherein the extending direction of the second adjusting groove (232) is the same as the axial direction of the holding part (22), and the second adjusting groove (232) is arranged corresponding to the first adjusting groove (231);

a limiting member (233) which is arranged between the first adjusting groove (231) and the second adjusting groove (232) in a position-adjustable manner.

5. The robot according to claim 2, wherein the gripping mechanism (20) further comprises a first elastic member (24), the first elastic member (24) is disposed between the fixing portion (21) and the gripping portion (22), one end of the first elastic member (24) is connected to the fixing portion (21), the other end of the first elastic member (24) is connected to the gripping portion (22), and the first elastic member (24) is configured to drive the gripping mechanism (20) to switch between the working state and the avoiding state.

6. Robot according to claim 5, characterized in that the robot further comprises a locking assembly (30), the locking assembly (30) being arranged between the fixing portion (21) and the grip portion (22), the locking assembly (30) having a locked state and an unlocked state, the locking assembly (30) fixing the relative position of the fixing portion (21) and the grip portion (22) when the locking assembly (30) is in the locked state, the grip portion (22) being movable relative to the fixing portion (21) when the locking assembly (30) is in the unlocked state.

7. Robot according to claim 6, characterized in that said locking assembly (30) comprises:

a rotating member (31) rotatably disposed within the internal cavity, the rotating member (31) having a limit end (311), the limit end (311) having a locked position and an unlocked position;

the limiting groove (32) is arranged on the holding part (22), when the limiting end (311) is located at the locking position, the limiting end (311) is in limiting fit with the limiting groove (32), and the locking assembly (30) is in the locking state; when the limiting end (311) is located at the unlocking position, the limiting end (311) is separated from the limiting groove (32), and the locking assembly (30) is in the unlocking state.

8. The robot as recited in claim 7, wherein the locking assembly (30) further comprises a second elastic member (33), the second elastic member (33) is in driving connection with the rotating member (31), and the second elastic member (33) is used for driving the limiting end (311) of the rotating member (31) to rotate to the locking position.

9. The robot as claimed in claim 7, further comprising a driving member (40), wherein the driving member (40) is rotatably disposed on the body (10), and the driving member (40) is configured to drive the limiting end (311) of the rotating member (31) to rotate from the locking position to the unlocking position.

10. The robot according to claim 9, wherein the body (10) has an opening (11), the holding portion (22) is disposed corresponding to the opening (11), the holding portion (22) is extendable from the opening (11), the driving member (40) is rotatably disposed at the opening (11), the driving member (40) has a covering position for covering the opening (11) and an opening position for opening the opening (11), the driving member (40) has a bent portion (41), and the bent portion (41) is disposed corresponding to the rotating member (31);

when the driving element (40) is located at the covering position, the bent part (41) is separated from the rotating element (31), the holding mechanism (20) is in the avoiding state, and the locking assembly (30) is in the locking state; when the driving piece (40) is located at the opening position, the bending portion (41) is abutted to the rotating piece (31) so as to drive the limiting end (311) of the rotating piece (31) to rotate from the locking position to the unlocking position, and the first elastic piece (24) drives the holding portion (22) to extend out of the opening (11), so that the holding mechanism (20) is in the working state.

11. Robot according to claim 5, characterized in that it comprises a plurality of said gripping organs (20), said gripping organs (20) being arranged circumferentially spaced on said body (10).

12. Robot according to claim 1, characterized in that the body (10) comprises a housing (12) and a frame (13), the gripping means (20) being movably arranged on the frame (13), the gripping means (20) protruding at least partly outside the housing (12) when the gripping means (20) is in the active state, the gripping means (20) being located inside the housing (12) when the gripping means (20) is in the retracted state.