WO2019205465A1 - 抓取机构及可移动平台 - Google Patents

抓取机构及可移动平台 Download PDF

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Publication number
WO2019205465A1
WO2019205465A1 PCT/CN2018/106302 CN2018106302W WO2019205465A1 WO 2019205465 A1 WO2019205465 A1 WO 2019205465A1 CN 2018106302 W CN2018106302 W CN 2018106302W WO 2019205465 A1 WO2019205465 A1 WO 2019205465A1
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WO
WIPO (PCT)
Prior art keywords
clamping
arm
storage box
horizontal
gripping
Prior art date
Application number
PCT/CN2018/106302
Other languages
English (en)
French (fr)
Inventor
孙泽勇
卢伟增
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201880016636.1A priority Critical patent/CN110896614A/zh
Publication of WO2019205465A1 publication Critical patent/WO2019205465A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements

Definitions

  • Embodiments of the present invention relate to a mobile platform technology, and in particular, to a crawling mechanism and a movable platform.
  • robots or other mobile platforms can typically perform palletizing tasks or other objects.
  • the robot can perform a simulated shooting task.
  • the robot needs to take the ammunition box containing the projectile and take the projectile from the storage box; and, for example, in some occasions, the movable platform can Take out the garbage can and take it over, so that the garbage in the garbage can be taken out.
  • the storage box is generally a top opening, and the cube structure of the internal storage object.
  • the storage boxes are usually arranged neatly, and each storage box utilizes a square fixed frame.
  • the height of the upper edge of the fixed frame is lower than the height of the storage box, so that the robot can be taken from the outside of the fixed frame while the limit is being fixed.
  • the robot picks up the storage box it usually needs to extend the arm above the storage box, then take the storage box out of the fixing frame in the vertical direction, then translate the storage box to the take-up position, and then flip the storage box. , pour out the projectile in the storage box.
  • the embodiment of the invention provides a grasping mechanism and a movable platform, which can quickly and conveniently take the storage box.
  • an embodiment of the present invention provides a gripping mechanism including a driving assembly and at least one set of clamping assemblies; a clamping assembly for holding a storage box, and a driving assembly for driving the clamping assembly to move Hold the component and drag the storage compartment and drive the storage compartment to flip the fixed obstacle as a fulcrum.
  • the clamping assembly is two sets, and the two sets of clamping components are arranged side by side.
  • each set of clamping components comprises two parallel and spaced clamping arms, and a side of each clamping arm opposite to the other clamping arms is provided with a clamping member for clamping the storage box.
  • the clamping members are horizontally rotatable relative to the clamping arms; wherein the clamping members of each of the clamping arms are movable toward the other clamping arms, or each of the clamping arms is movable toward the other clamping arms.
  • a first driving member is disposed between the clamping member and the corresponding clamping arm, and the first driving member is configured to drive the clamping member to move to the other clamping arm.
  • the first driving component is a cylinder
  • the cylinder block of the cylinder is connected with the clamping arm
  • the piston rod of the cylinder is connected to the clamping member
  • the piston rod and the cylinder body are relatively rotatable.
  • the clamping assembly further comprises a beam connected between the two clamping arms, the beam being adapted to abut the inverted storage bin.
  • the beam is movably coupled to the clamp arm and the beam has a variable height position relative to the clamp arm.
  • the clamping arm comprises a horizontal section provided with a clamping member and an inclined section connected to the beam; the bottom end of the inclined section is connected with the horizontal section, and the angle between the inclined section and the horizontal section is an obtuse angle.
  • a camera is also disposed on the beam.
  • the driving assembly includes at least one link mechanism, each of the link mechanisms includes 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 located and clamped
  • the second horizontal arm is connected to the clamping assembly in a parallel vertical plane of the arm, and the 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 about the horizontal axis with respect to the first horizontal arm So that the second horizontal arm drives the clamping assembly to move.
  • all of the connecting rods are parallel to each other and have the same length.
  • the at least one link mechanism 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.
  • the first link mechanism is connected to the first clamping arm, the second link mechanism and the second clamping arm are connected, and a spacing between the first link mechanism and the second link mechanism is smaller than the first clip. The spacing between the arm and the second clamping arm.
  • the driving assembly further includes a second driving member for driving the at least one connecting rod to rotate relative to the first horizontal arm.
  • the driving component further comprises a transmission mechanism, wherein the transmission mechanism comprises a transmission wheel coaxially connected with the horizontal rotating shaft of the connecting rod, and the driving wheel is configured to drive the connecting rod to rotate synchronously under the driving of the second driving member.
  • the transmission mechanism comprises a transmission wheel coaxially connected with the horizontal rotating shaft of the connecting rod, and the driving wheel is configured to drive the connecting rod to rotate synchronously under the driving of the second driving member.
  • the fixed obstacle is disposed on the grasping mechanism; or the fixed obstacle is a fixed frame for defining the position of the storage box.
  • an embodiment of the present invention provides a movable platform including a body and a grasping mechanism as described above.
  • the grasping mechanism and the movable platform specifically include a driving component and at least one set of clamping components; the clamping component is configured to clamp the storage box, and the driving component is configured to drive the clamping component to move, so that The clamping assembly drags the storage compartment and drives the storage compartment to flip the fixed obstacle as a fulcrum.
  • the grasping mechanism can take out the object in the storage box by using the flipping of the storage box itself, and the operation process is simple and quick.
  • FIG. 1 is a schematic structural view of a grasping mechanism according to Embodiment 1 of the present invention.
  • FIG. 2 is a top plan view of a grasping mechanism according to Embodiment 1 of the present invention.
  • Figure 3 is a side view of the grasping mechanism provided in the first embodiment of the present invention.
  • FIG. 4a is a schematic view showing a state in which the grasping mechanism of the first embodiment of the present invention starts to drag when the storage box starts to be dragged;
  • 4b is a schematic view showing a state in which the grasping mechanism of the first embodiment of the present invention is turned over when the storage box is turned over;
  • 4c is a schematic view showing the state of the grasping mechanism provided when the storage box is turned over, according to the first embodiment of the present invention
  • Figure 5a is a schematic view showing the position of the clamp assembly before clamping according to the first embodiment of the present invention
  • FIG. 5b is a schematic view showing the position of the clamp assembly according to the first embodiment of the present invention when the clamping is completed.
  • a mobile platform can perform palletizing tasks or take objects from other occasions.
  • the object can be placed in a storage box having a regular shape.
  • the storage box is usually placed at a designated location, and the object is placed in the storage box, and the movable platform needs to take the storage box from the designated position and take out or pour out the objects in the storage box.
  • the grasping mechanism provided in this embodiment specifically includes a driving assembly 2 and at least one set of clamping assemblies 1; the clamping assembly 1 is used for holding the storage box. 10, the driving assembly 2 is used to drive the clamping assembly 1 to move, so that the clamping assembly 1 drags the storage box 10 and drives the storage box 10 to flip the fixed obstacle 20 as a fulcrum, and is turned over for dumping the storage box. Put the object.
  • FIG. 4a is a schematic view showing the state of the grasping mechanism provided when the storage box starts to drag according to the first embodiment of the present invention.
  • FIG. 4b is a schematic view showing the state of the grasping mechanism provided by the first embodiment of the present invention when the storage box is turned over.
  • FIG. 4c is a schematic view showing the state of the grasping mechanism according to the first embodiment of the present invention when the storage box is turned over.
  • the gripping mechanism is disposed on the body of the movable platform, and the gripping assembly 1 in the gripping mechanism is movable under the driving of the driving assembly 2.
  • the clamp assembly 1 can clamp the storage box 10 and drag it by its own movement.
  • the clamp assembly 1 is clamped in the upper middle portion of the storage box 10, and a fixed obstacle 20 is generally disposed near the bottom of the storage box 10.
  • a fixed obstacle 20 is generally disposed near the bottom of the storage box 10.
  • the obstacle 20 is fixed to the front, and the tendency to move forward is stopped under the obstruction of the fixed obstacle 20.
  • the upper portion of the storage box 10 continues to move forward with the movement of the clamp assembly 1, so that the upper and lower portions of the storage box 10 have an inconsistent moving speed, and the storage box 10 tends to fall forward.
  • the driving member 2 is driven to reverse by using the fixed obstacle 20 as a fulcrum. At this time, objects such as projectiles held in the storage box 10 can be automatically poured out from the storage box 10 and supplied to Mobile platform.
  • the gripping mechanism performs the bouncing by the posture change generated when the center of gravity of the storage box 10 is changed, after the gripping assembly 1 of the gripping mechanism grips the storage box 10, only the gripping assembly 1 itself needs to be oriented in one direction.
  • the storage box 10 can be driven to successively realize the continuous movement of moving, tipping and pouring out objects.
  • the action and movement of the clamping assembly 1 are relatively simple, and the taking process is quick and convenient.
  • the fixed obstacle 20 may be fixed to the placement surface of the storage box 10 or may be a component located on the grasping mechanism.
  • the fixed obstacle 20 can be disposed on the grasping mechanism.
  • the fixed obstacle 20 can also be a fixed frame for limiting the storage box 10.
  • the fixed frame is usually a square frame, and the height of the fixed frame is low, usually less than half the height of the storage box 10.
  • the grasping mechanism can pick up one or more storage bins 10 at one time.
  • the clamping assemblies 1 in the gripping mechanism may be two sets, and the two sets of clamping assemblies are arranged side by side.
  • the two sets of clamping assemblies 1 can respectively grip two storage bins 10 placed side by side and pour out objects in the storage bin 10.
  • the gripping mechanism may include a clamp assembly 1a and a clamp assembly 1b.
  • the gripping mechanism can also include more than two sets of clamping assemblies, and the plurality of sets of clamping assemblies 1 can be used to grip more than two storage compartments 10.
  • the clamping members 1 may be in a side-by-side position or other relative positional relationship, which is not limited herein.
  • each set of clamping assemblies 1 includes two parallel and spaced clamping arms 11 , and the opposite side of each clamping arm from the other clamping arms is provided with a clip for holding the storage box 10 Holding the member 12, and the clamping member 12 is horizontally rotatable relative to the clamping arm 11; wherein the clamping member of each clamping arm can be moved to the other clamping arm, or each clamping arm can be moved to the other clamping member Hold the arm to move.
  • the two gripping arms 11 are arranged in parallel so that a space for accommodating the storage box 10 can be formed between the two gripping arms.
  • Each of the clamping arms is provided with a clamping member 12 for contacting the storage box 10 to clamp the storage box 10 between the two clamping arms, and two clamping members They are respectively clamped on opposite sides of the storage box 10.
  • the clamping member 12 and the clamping arm 11 are freely rotatable, so that the clamping arm 11 can always maintain a translational or small-angle rotation, and the clamping member 12 A large angle of rotation is performed with the storage box 10 about the horizontal axis of rotation.
  • the distance between the two clamping members can be increased or decreased to complete the clamping and loosening of the storage box 10, or Adjust to the position where the different storage boxes 10 are clamped.
  • the clamping assembly 1 can achieve a distance adjustment between the clamping members 12 in different ways.
  • each of the gripping arms can be moved toward the other of the gripping arms.
  • the overall spacing between the two gripping arms can be varied, so that the spacing of the gripping members 12 will also change, thereby completing the clamping and loosening of the different storage bins 10.
  • the two gripping arms can complete the larger spacing adjustment between the gripping arms 11 by integral movement, thereby adapting to the storage bins 10 of different specifications.
  • FIG. 5a is a schematic view showing the position of the clamping assembly before clamping according to the first embodiment of the present invention.
  • FIG. 5b is a schematic view showing the position of the clamp assembly according to the first embodiment of the present invention when the clamping is completed. As shown in Figures 5a and 5b, the gripping members on the two gripping arms of the clamping assembly are each movable to grip the storage bin 10.
  • the storage box 10 is generally a square or a rectangular parallelepiped, in order to prevent the other structure on the holding arm 11 from obstructing the turning of the storage box 10, generally, the holding member 12 is disposed at the end portion of the holding arm 11. Thus, when the storage box 10 is turned over, it is less likely to be hindered by other structures on the clamp arm 11.
  • the contact surface of the clamping member 12 with the storage compartment 10 typically has an anti-slip structure, such as an anti-slip texture or a non-slip material.
  • the holding member 12 can usually be made of a flexible material such as rubber.
  • the clamping arm 11 is generally fixed, and the clamping member 12 can be moved relative to the clamping arm 11 to the other clamping arm. Clamping of the storage box 10.
  • a first driving member 13 is disposed between the clamping member 12 and the corresponding clamping arm, and the first driving member 13 is used to drive the clamping member 12 to the other The grip arm moves.
  • the clamping member 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 removed from the holding member 12 after the first driving member 13 removes the clamping force. Loosen in the grip.
  • one of the clamping arms may be provided with a first driving member 13 and the corresponding clamping member may be moved, and the clamping member on the other clamping arm may be fixed.
  • the first driving member 13 may be disposed on both of the clamping arms, and the corresponding clamping members move toward each other.
  • the first driving member 13 may be a cylinder, and the cylinder of the cylinder is connected to the clamping arm 11.
  • the piston rod of the cylinder is connected to the clamping member 12, and the piston rod and the cylinder are relatively rotatable.
  • the cylinder can push or pull the piston rod by the gas pressure, and drive the clamping member 12 to clamp the storage box 10.
  • first driving member 13 may also be in other forms, such as an electric motor, or a driving device or the like commonly used by those skilled in the art, as long as the movement of the clamping member 12 can be achieved, and the clamping member 12 and the clamping arm 11 are held. It can be rotated relatively freely, and is not limited here.
  • the clamping assembly 1 may further include a beam 14 connected between the two clamping arms, and the beam 14 is for abutting against the inverted storage box 10.
  • the beam 14 is typically located at one end of the clamp arm 11 remote from the clamp 12.
  • the beam 14 has a certain height, and when the storage box 10 is turned over under the drag of the clamping assembly 1 and the blocking of the fixed obstacle 20, it will be turned forward by a large angle until the bottom of the storage box 10 is turned over to High position. At this time, the storage box 10 is turned over to a position where the beam 14 abuts. Due to the blocking of the beam 14, the storage box 10 cannot continue to flip forward, but can only remain at the turning angle, so that the objects in the storage box 10 can be poured out smoothly at the turning angle and supplied to the movable platform.
  • the beam 14 there may be a movable connection between the beam 14 and the clamping arm 11 and the beam 14 has a variable height position relative to the clamping arm 11.
  • the beam 14 can be moved relative to the clamping arm 11 and adjusted to different heights relative to the clamping arm 11.
  • the storage box 10 when the storage box 10 is turned over, it is blocked by the beam 14 at different flip angle positions. This allows the beams 14 of different heights to be matched to the storage bins 10 of different specifications, or to achieve different dumping states of the storage bins 10 and the like.
  • the beam 14 can achieve a variable height relative to the clamp arm 11 by means of a slide rail or a plurality of fixed holes provided at intervals.
  • the cross member 14 can be slid to the different height positions of the gripping arms 11 by the slide rails, or the fixing holes provided at different height positions.
  • the beam 14 can also be realized with a height adjustable movable connection between the clamping arms 11 in a manner commonly used by those skilled in the art, and will not be described herein.
  • the clamping arm 11 comprises a horizontal section 111 provided with a clamping member 12 and an inclined section 112 connected to the cross member 14; wherein the bottom of the inclined section 112 The end is connected to the horizontal section 111, and the angle between the inclined section 112 and the horizontal section 111 is an obtuse angle.
  • 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 compartment 10 and is connected with the upwardly inclined inclined section 112, so that the clamping arm
  • the horizontal section 111 of the 11 can be held on both sides of the storage compartment 10, while the inclined section 112 of the clamping arm 11 can provide a sufficient mounting height for the beam 14 and a suitable spacing between the beam 14 and the storage compartment 10, thereby It is convenient for the storage box 10 to achieve dumping.
  • the beam 14 is further provided with a camera 141.
  • the viewing angle of the camera 141 covers the gripping member 12 and the storage box 10, so that the gripping state of the gripping assembly 1 and the posture of the storage box 10 can be observed, contributing to the operation of the supply mechanism and the movable platform.
  • the drive assembly 2 can also have a variety of forms and configurations.
  • the drive assembly 2 includes at least one linkage mechanism 21, each linkage mechanism 21 including a first horizontal arm 211, a second horizontal arm 212, and at least two connecting rods 213.
  • 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 to the clamping assembly 1, and the two ends of the connecting rod 213 are respectively associated with the first level
  • the arm 211 and the second horizontal arm 212 are hinged; the connecting rod 213 is for rotating about the horizontal axis with respect to the first horizontal arm 211, so that the second horizontal arm 212 drives the clamping assembly 1 to move.
  • the first horizontal arm 211 in the drive assembly 2 can serve as a frame of the entire link mechanism 21 and is fixedly coupled to the body of the movable platform.
  • the body of the movable platform and the placement surface of the storage box 10 are relatively stationary, so that the first horizontal arm 211 is also kept between the placement surface of the storage box 10.
  • the connecting rod 213 and the first horizontal arm 211 are moved 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 clamping arm 11, so that the second horizontal arm 212 can move the clamping arm 11 together.
  • both ends of each connecting rod 213 are hinged with 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 are combined.
  • a four-bar linkage with a quadrilateral shape Since the shape of the quadrilateral is relatively unstable, when the first horizontal arm 211 is fixed and the connecting rod 213 is rotated 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. Moving together, and in turn driving the clamp assembly 1 coupled to the second horizontal arm 212 to move together.
  • the second horizontal arm 212 can move the entire clamping assembly 1 to move, thereby dragging the storage box 10.
  • all of the connecting rods 213 can be kept parallel to each other, and all of the connecting rods 213 have the same length.
  • the connecting rod 213, the first horizontal arm 211 and the second horizontal arm 212 together form a quadrilateral four-bar linkage.
  • the opposite sides of the quadrilateral 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 will always maintain translation. Accordingly, the clamping assembly 1 will also maintain translation, and the movement is relatively regular when the storage box 10 is dragged, and has high operational reliability.
  • the driving assembly 2 further includes a second driving member 22 for driving the at least one connecting rod 213 to rotate relative to the first horizontal arm 211.
  • the second driving member 22 can be a driving form commonly used by those skilled in the art such as a cylinder or a motor, and is not limited herein.
  • the connecting rod 213 may be directly connected to the second driving member 22 or indirectly through a transmission mechanism.
  • the drive assembly 2 further includes a transmission mechanism including a transmission wheel 23 coaxially coupled to the horizontal shaft of the connecting rod 213 for driving the second driving member 22 The connecting rod 213 rotates in synchronization.
  • the rotation shafts of the transmission wheel 23 and the connecting rod 213 are coaxially arranged, and the transmission wheel 23 and the connecting rod 213 rotate synchronously.
  • the connecting rod 213 also rotates synchronously, and drives the remaining mechanisms to realize the movement.
  • the transmission wheel 23 can be in the form of a plurality of transmission wheels such as a gear, a synchronous wheel or a sprocket, and is not limited herein.
  • the at least one link mechanism 21 may include a first link mechanism 21a and a second link mechanism 21b that are parallel to each other.
  • the first link mechanism 21a and the second link mechanism 21b are respectively coupled to different clamp arms.
  • the first link mechanism 21a and the second link mechanism 21b can simultaneously drive the clamping assembly 1 to move from both sides simultaneously, on the one hand, the clamping assembly 1 is more evenly stressed, and on the other hand, the single link mechanism is less stressed. , higher reliability.
  • first link mechanism 21a and the second link mechanism 21b are normally connected by the drive shaft 24.
  • the first link mechanism 21a and the second link mechanism 21b can be in a linked state.
  • the gripping mechanism includes one or more clamping assemblies 1, the first link mechanism 21a and the second link mechanism 21b can be connected to the same clamping assembly 1 or different.
  • the clamping assembly 1 is connected.
  • the gripping mechanism includes a clamping assembly 1
  • the first link mechanism 21a and the second link mechanism 21b can be respectively connected to different clamping arms of the clamping assembly 1, and at this time, the two clamping arms are different.
  • the first link mechanism 21a and the second link mechanism 21b are synchronously driven, the two clamping arms are also moved synchronously, so that two different clamping arms of the clamping assembly 1 can be obtained. Drive, the force is more balanced.
  • the first linkage mechanism 21a and the second linkage mechanism 21b can be respectively connected to different clamping components, so that different clamping components can The driving of the link mechanism 21 is obtained, and the movement is performed correspondingly, and the force is relatively balanced.
  • the first link mechanism 21a and the second link mechanism 21b are symmetrically disposed with respect to the arrangement direction of all the clamp assemblies, for example, respectively connected to the outermost two clamp arms of all the clamp assemblies.
  • the clamping assembly of the unconnected linkage mechanism 21 can be connected by the connecting member and other clamping components, and is realized by the clamping assembly directly connected to the linkage mechanism 21. Synchronous movement.
  • the first link mechanism 21a and the second link mechanism 21b are included in the plurality of link mechanisms, the first link mechanism 21a and the first The clamping arm 11a is connected, the second link mechanism 21b and the second clamping arm 11b are connected, and the spacing between the first link mechanism 21a and the second link mechanism 21b is smaller than the first clamping arm 11a and the second clamping member The spacing between the arms 11b is held.
  • the first clamping arm 11a and the second clamping arm 11b may be two different clamping arms of the same clamping component, or may be clamping arms located on different clamping components.
  • a larger pitch and span can be maintained between the first clamping arm 11a and the second clamping arm 11b, but the spacing between the first link mechanism 21a and the second link mechanism 21b is relatively close, thereby utilizing a shorter
  • the transmission shaft 24 can connect two linkage mechanisms, so that the transmission shaft 24 can have a relatively compact size and good rigidity.
  • the grasping mechanism specifically includes a driving component and at least one set of clamping components; the clamping component is configured to clamp the storage box, and the driving component is configured to drive the clamping component to move, so that the clamping component drags the storage
  • the box drives the storage box to flip with the fixed obstacle as a fulcrum.
  • Embodiment 2 of the present invention further provides a mobile platform.
  • the movable platform in this embodiment specifically includes the airframe and the grasping mechanism in the first embodiment.
  • the specific structure, function, and working principle of the grasping mechanism have been described in detail in the foregoing first embodiment, and are not described herein again.
  • the movable platform may be a movable object such as a robot, a garbage collection vehicle, a drone, or the like.
  • the grasping mechanism of the movable platform is disposed on the body, and the clamping component in the grasping mechanism is movable under the driving of the driving component, thereby clamping the storage box and dragging the storage box to the movable platform
  • the storage box can be turned over under the barrier of the fixed obstacle and the object in the storage box can be directly poured out.
  • the movable platform can process or utilize objects originally in the storage box.
  • the body of the movable platform may be provided with a supply device, a shooting device, and the like. After the projectile collects the projectiles in the storage box, it can be supplied to the shooting device to shoot the projectile.
  • the movable platform specifically includes a body and a grasping mechanism; wherein the grasping mechanism specifically includes a driving component and at least one set of clamping components; the clamping component is used for clamping the storage box, and the driving component is used for The clamping assembly is moved to move the clamping assembly to the storage box and drive the storage box to flip the fixed obstacle as a fulcrum.
  • the movable platform can directly drag the storage box when taking the storage box, and take out the object in the storage box by using the flipping of the storage box itself, and the operation process is simple and quick.

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  • Mechanical Engineering (AREA)
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Abstract

一种抓取机构及可移动平台，可移动平台包括机身和抓取机构，其中抓取机构包括驱动组件(2)和至少一组夹持组件(1)，夹持组件(1)用于夹持储物箱(10)，驱动组件(2)用于带动夹持组件(1)移动，以使夹持组件(1)拖动储物箱(10)并带动储物箱(10)以固定障碍物(20)为支点翻转，倒出储物箱(10)内盛放的物体，从而能够快捷方便的拿取储物箱(10)并倒出其内物体。

Description

抓取机构及可移动平台 技术领域
本发明实施例涉及可移动平台技术，尤其涉及一种抓取机构及可移动平台。
背景技术
随着科技的不断发展，各种采用遥控或自动控制方式的机器人或者其它自行设备得到了越来越广泛的应用。
目前，机器人或者其它可移动平台通常可以执行码垛任务，或者实现其它物体的拿取等。例如，在一些场合，机器人可以执行模拟射击任务，此时，机器人需要对存放有弹丸的弹药箱进行拿取，并由储物箱中拿取弹丸；又例如，在一些场合，可移动平台可以进行垃圾箱的拿取和翻倒，从而将垃圾箱内的垃圾取出。具体的，储物箱一般为顶面开口，内部存储物体的立方体结构，为便于机器人拿取储物箱，储物箱通常整齐排列放置，且每个储物箱均利用一呈方形的固定框进行限位，固定框的上沿高度低于储物箱的高度，从而能够在限位的同时，便于机器人从固定框的外侧拿取储物箱。机器人在拿取储物箱时，通常需要先将机械臂伸至储物箱上方，再沿竖直方向将储物箱取出固定框，然后平移储物箱至取弹位置，后翻转储物箱，将储物箱中的弹丸倒出。
然而，机器人在拿取储物箱时，拿取动作较慢，会影响自身整个流程的速度、并且耗费更多的能量。
发明内容
本发明实施例提供一种抓取机构及可移动平台，能够快捷方便的拿取储物箱。
第一方面，本发明实施例提供一种抓取机构，包括驱动组件和至少一组夹持组件；夹持组件用于夹持储物箱，驱动组件用于带动夹持组件移动，以使夹持组件拖动储物箱并带动储物箱以固定障碍物为支点翻转。
可选的，夹持组件为两组，且两组夹持组件并排设置。
可选的，每组夹持组件包括两个平行且间隔设置的夹持臂，每个夹持臂的与另一夹持臂相对的一面均设置有用于夹持储物箱的夹持件，且夹持件可相对夹持臂水平转动；其中，每个夹持臂的夹持件可向另一夹持臂移动，或者每个夹持臂均可向另一夹持臂移动。
可选的，夹持件和对应的夹持臂之间均设置有第一驱动件，第一驱动件用于驱动夹持件向另一夹持臂移动。
可选的，第一驱动件为气缸，气缸的缸体和夹持臂连接，气缸的活塞杆与夹持件连接，且活塞杆和缸体之间可相对转动。
可选的，夹持组件还包括横梁，横梁连接在两个夹持臂之间，横梁用于和翻转后的储物箱抵接。
可选的，横梁和夹持臂之间活动连接，且横梁相对于夹持臂具有可变的高度位置。
可选的，夹持臂包括设置有夹持件的水平段和与横梁连接的倾斜段；倾斜段的底端和水平段相连，倾斜段和水平段之间的夹角为钝角。
可选的，横梁上还设置有摄像头。
可选的，驱动组件包括至少一个连杆机构，每个连杆机构均包括第一水平臂、第二水平臂和至少两个连接杆；第一水平臂和第二水平臂均位于和夹持臂平行的竖直面内，第二水平臂和夹持组件连接，连接杆的两端分别与第一水平臂以及第二水平臂铰接；连接杆用于相对于第一水平臂绕水平轴线转动，以使第二水平臂带动夹持组件移动。
可选的，所有连接杆均相互平行且具有相同的长度。
可选的，至少一个连杆机构包括相互平行的第一连杆机构和第二连杆机构，第一连杆机构和第二连杆机构分别和不同夹持臂连接。
可选的，第一连杆机构和第一夹持臂连接，第二连杆机构和第二夹持臂连接，且第一连杆机构和第二连杆机构之间的间距小于第一夹持臂和第二夹持臂之间的间距。
可选的，驱动组件还包括第二驱动件，第二驱动件用于带动至少一个连接杆相对于第一水平臂转动。
可选的，驱动组件还包括传动机构，传动机构包括与连接杆的水平转轴同轴连接的传动轮，传动轮用于在第二驱动件的驱动下带动连接杆同步转动。
可选的，固定障碍物设置在抓取机构上；或者，固定障碍物为用于限定储物箱位置的固定框。
第二方面，本发明实施例提供一种可移动平台，包括机身和如上所述的抓取机构。
本发明实施例抓取机构及可移动平台，抓取机构具体包括驱动组件和至少一组夹持组件；夹持组件用于夹持储物箱，驱动组件用于带动夹持组件移动，以使夹持组件拖动储物箱并带动储物箱以固定障碍物为支点翻转。这样抓取机构可以利用储物箱自身的翻转而将储物箱内的物体取出，操作过程简单快捷。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例一提供的抓取机构的结构示意图；
图2是本发明实施例一提供的抓取机构的俯视图；
图3是本发明实施例一提供的抓取机构的侧视图；
图4a是本发明实施例一提供的抓取机构在储物箱开始拖动时的状态示意图；
图4b是本发明实施例一提供的抓取机构在储物箱产生翻转时的状态示意图；
图4c是本发明实施例一提供的抓取机构在储物箱翻转完成时的状态示意图；
图5a是本发明实施例一提供的夹持组件在夹持前的位置示意图；
图5b是本发明实施例一提供的夹持组件在完成夹持时的位置示意图。
附图标记说明：
1、1a、1b-夹持组件；2-驱动组件；11、11a、11b-夹持臂；12-夹持件；13-第一驱动件；14-横梁；20-固定障碍物；21-连杆机构；21a-第一连杆机构；21b-第二连杆机构；22-第二驱动件；23-传动轮；24-传动轴；111-水平段；112-倾斜段；141-摄像头；211-第一水平臂；212-第二水平臂；213-连接杆。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
通常的，可移动平台可以进行码垛任务，或者实现其它场合下物体的拿取。此时，物体可以被盛放在具有规则外形的储物箱中。储物箱通常放置在指定位置，且物体被盛放在储物箱内，而可移动平台需要从指定位置拿取储物箱，并将储物箱中的物体取出或倒出。
图1是本发明实施例一提供的抓取机构的结构示意图。图2是本发明实施例一提供的抓取机构的俯视图。图3是本发明实施例一提供的抓取机构的侧视图。如图1至图3所示，为了拿取储物箱，本实施例提供的抓取机构，具体包括驱动组件2和至少一组夹持组件1；夹持组件1用于夹持储物箱10，驱动组件2用于带动夹持组件1移动，以使夹持组件1拖动储物箱10并带动储物箱10以固定障碍物20为支点翻转，翻转用于倾倒储物箱内盛放的物体。
图4a是本发明实施例一提供的抓取机构在储物箱开始拖动时的状态示意图。图4b是本发明实施例一提供的抓取机构在储物箱产生翻转时的状态示意图。图4c是本发明实施例一提供的抓取机构在储物箱翻转完成时的状态示意图。其中，抓取机构设置在可移动平台的机身上，且抓取机构中的夹持组件1可以在驱动组件2的驱动下移动。夹持组件1可以夹住储物箱10，并依靠自身的移动进行拖动。通常的，夹持组件1夹持在储物箱10的中上部，而储物箱10的底部附近一般会设置有固定障碍物20。当夹持组件1拖动储物箱10移动时，储物箱10的上部具有跟随夹持组件1移动的趋势，而储物箱10 的下部则会在随夹持组件1的移动过程中碰到前方的固定障碍物20，并在固定障碍物20的阻碍下停止向前移动的趋势。此时，储物箱10的上部依然会随夹持组件1的移动而继续前移，这样储物箱10的上下部具有不一致的移动速度，储物箱10就会呈向前翻倒的趋势，并在驱动组件2的带动下，以固定障碍物20作为支点而产生翻转，此时，储物箱10内所盛放的弹丸等物体即可由储物箱10中自动倒出，并供应给可移动平台。
这样，由于抓取机构通过储物箱10自身重心变换时产生的姿态改变进行取弹，当抓取机构的夹持组件1夹持储物箱10之后，只需要夹持组件1自身朝向一个方向移动，即可带动储物箱10依次实现移动、翻倒和倒出物体的连贯动作。在整个夹持储物箱10并取出物体的过程中，夹持组件1的动作和移动方式较为简单，且取弹过程快捷方便。
其中，固定障碍物20可以是与储物箱10的放置面相对固定，也可以是位于抓取机构上的部件。例如，作为其中一种可选的实施方式，固定障碍物20可以设置在抓取机构上。此时，当可移动平台移动至储物箱10附近时，抓取机构上的固定障碍物20会临近储物箱10的底部，这样当夹持组件1夹持储物箱10，并向一侧拖动储物箱10时，抓取机构上的固定障碍物20会阻挡储物箱10底部的移动，并使储物箱10以固定障碍物20为支点产生翻转，从而将储物箱10内的物体倒出。
而作为另一种可选的实施方式，固定障碍物20也可以为用于对储物箱10限位的固定框。固定框通常为方形框，且固定框的高度较低，通常小于储物箱10高度的一半。这样当夹持组件1夹持储物箱10并拖动时，储物箱10上部会在夹持组件1的带动下移动，而储物箱10的下部会被固定框所阻碍，因而储物箱10就会以固定框为支点翻转而倒出物体。
为了向可移动平台提供充足的弹药，抓取机构可以一次性夹取一个或多个储物箱10。为了同时夹取多个储物箱10，可选的，抓取机构中的夹持组件1可以为两组，且两组夹持组件并排设置。这样两组夹持组件1可以分别夹取两个并排放置的储物箱10，并倒出储物箱10内的物体。例如，如图2所示，抓取机构可以包括夹持组件1a和夹持组件1b。
可以理解的是，抓取机构也可以包括两组以上的夹持组件，且多组夹持组件1可以用于夹取两个以上的储物箱10。且夹持组件1为多个时，夹持组 件1之间可以为并排位置，也可以为其它相对位置关系，此处不加以限制。
可选的，为了夹持储物箱10，夹持组件1可以具有多种不同的结构形式。可选的，每组夹持组件1包括两个平行且间隔设置的夹持臂11，每个夹持臂的与另一夹持臂相对的一面均设置有用于夹持储物箱10的夹持件12，且夹持件12可相对夹持臂11水平转动；其中，每个夹持臂的夹持件可向另一夹持臂移动，或者每个夹持臂均可向另一夹持臂移动。
这样两个夹持臂11平行设置，因而两个夹持臂之间可以形成用于容纳储物箱10的空间。每个夹持臂上均设置有夹持件12，夹持件12用于和储物箱10接触，以将储物箱10夹持在两个夹持臂之间，且两个夹持件分别夹持在储物箱10的相对两侧。为了让储物箱10可以依靠固定障碍物20进行自由翻转，夹持件12和夹持臂11之间可自由转动，这样夹持臂11可以始终保持平移或小角度转动，而夹持件12会和储物箱10一起绕着水平转轴进行大角度的转动。
而为了将储物箱10牢固的夹持在两个夹持臂之间，两个夹持件之间的距离可以增加或减少，以完成对储物箱10的夹持和松开，或者是调整至夹持不同储物箱10的位置。
具体的，夹持组件1可以通过不同方式实现夹持件12之间的距离调整。例如在一种可选的方式中，每个夹持臂均可以向另一个夹持臂移动。这样两个夹持臂之间的整体间距可以改变，因而夹持件12的间距也会随之变化，从而完成对不同储物箱10的夹持和松开。两个夹持臂可以通过整体的移动而完成夹持臂11之间的较大间距调整，从而适应于不同规格的储物箱10。
而在另一种可选的方式中，可以保持夹持臂11固定不动，而每个夹持臂的夹持件可向另一夹持臂移动的方式实现夹持。具体的，夹持件12可以依靠气缸或者电机等不同驱动方式实现向另一夹持臂的移动，而此时夹持臂整体和另一夹持臂保持固定不动的位置。由于夹持臂11整体不动，因而两个夹持件的间距调整较为容易，能够方便的完成夹持和松开。图5a是本发明实施例一提供的夹持组件在夹持前的位置示意图。图5b是本发明实施例一提供的夹持组件在完成夹持时的位置示意图。如图5a和图5b所示，夹持组件的两个夹持臂上的夹持件均可以相向移动，以对储物箱10进行夹持。
其中，由于储物箱10通常为正方体或者长方体，因而为了避免夹持臂 11上的其它结构阻碍储物箱10的翻转，通常的，夹持件12设置在夹持臂11的端部区域。这样储物箱10翻转时，不易受到夹持臂11上的其它结构的阻碍。
为了牢固夹持在储物箱10上，夹持件12的和储物箱10的接触面通常具有防滑结构，例如防滑纹路或者防滑材料等。且为了避免在夹持时损伤储物箱10的表面，夹持件12通常可以采用橡胶等柔性材料制成。
通常的，为了避免夹持组件1在夹持时结构的变化较小，一般采取夹持臂11固定不动，而夹持件12可相对夹持臂11向另一夹持臂移动的方式实现对储物箱10的夹取。此时，为了驱动夹持件12移动，可选的，夹持件12和对应的夹持臂之间设置有第一驱动件13，第一驱动件13用于驱动夹持件12向另一夹持臂移动。这样在第一驱动件13的驱动下，夹持件12即可夹持在储物箱10两侧，或者在第一驱动件13撤去夹持力后，使储物箱10从夹持件12的夹持中松开。
可选的，夹持组件1中，可以是其中一个夹持臂上设置有第一驱动件13并带动相应的夹持件移动，而另一夹持臂上的夹持件固定不动，也可以是两个夹持臂上均设置第一驱动件13，且对应的夹持件相向移动。
可选的，第一驱动件13可以为气缸，气缸的缸体和夹持臂11连接，气缸的活塞杆与夹持件12连接，且活塞杆和缸体之间可相对转动。这样气缸可以依靠气体压力推动或拉动活塞杆，并带动夹持件12实现对储物箱10的夹持。气缸的活塞和缸体之间通常会有一定间隙，从而让活塞杆和缸体之间可以相对自由转动，因而和活塞杆连接的夹持件12也可以相对于夹持臂11自由转动，从而在夹持臂11拖动储物箱10时，使储物箱10能够自如的实现翻转。
此外，第一驱动件13也可以为其它形式，例如电机，或者本领域技术人员所常用的驱动装置等，只要可以实现夹持件12的移动，并保持夹持件12和夹持臂11之间可相对自由转动即可，此处不加以限制。
而储物箱10在夹持组件1的拖动下翻转时，为了避免储物箱10翻倒在可移动平台的机体上，需要控制储物箱10的翻转角度。此时，可选的，夹持组件1还可以包括横梁14，横梁14连接在两个夹持臂之间，横梁14用于和翻转后的储物箱10抵接。
一般的，横梁14通常位于夹持臂11的远离夹持件12的一端。横梁14具有一定的高度，当储物箱10在夹持组件1的拖动以及固定障碍物20的阻挡下翻转时，会向前翻过较大角度，直至储物箱10的底部翻转至较高的位置。此时，储物箱10会翻转至于横梁14抵接的位置。由于横梁14的阻挡，储物箱10无法继续向前翻转，而只能保持在该翻转角度，这样储物箱10中的物体可以在该翻转角度下较为顺畅的倒出，并供应至可移动平台。
可选的，横梁14和夹持臂11之间可以为活动连接，且横梁14相对于夹持臂11具有可变的高度位置。这样，横梁14可以相对于夹持臂11移动，并调整至相对于夹持臂11的不同高度。相应的，储物箱10在翻转时，就会被横梁14阻挡在不同的翻转角度位置上。这样可以让不同高度的横梁14匹配不同规格的储物箱10，或者是实现储物箱10的不同倾倒状态等。
其中，横梁14可以通过滑轨或者间隔设置的多个固定孔等方式实现相对于夹持臂11的可变高度。例如，横梁14可以利用滑轨滑动至夹持臂11的不同高度位置，或者是设置在不同高度位置的固定孔中等。此外，横梁14也可以采用其它本领域技术人员常用的方式实现和夹持臂11之间高度可调节的活动连接，此处不再赘述。
为了同时便于夹持储物箱10和设置横梁14，可选的，夹持臂11包括设置有夹持件12的水平段111和与横梁14连接的倾斜段112；其中，倾斜段112的底端和水平段111相连，倾斜段112和水平段111之间的夹角为钝角。此时，夹持件12位于夹持臂11的水平段111上，而夹持臂11的水平段向储物箱10的一侧延伸，并与向上倾斜的倾斜段112连接，这样夹持臂11的水平段111能够护持在储物箱10的两侧，而夹持臂11的倾斜段112能够为横梁14提供足够的安装高度，以及横梁14与储物箱10之间合适的间距，从而便于储物箱10实现倾倒。
此外，可选的，横梁14上还设置有摄像头141。摄像头141的视角覆盖了夹持件12和储物箱10，从而能够观测夹持组件1的夹持状态以及储物箱10的姿态，有助于对供弹机构和可移动平台进行操作。
而为了驱动夹持组件1整体移动，从而拖动储物箱10，驱动组件2也可以具有多种形式和结构。在其中一种可选的结构中，驱动组件2包括至少一个连杆机构21，每个连杆机构21均包括第一水平臂211、第二水平臂212和 至少两个连接杆213。
其中，第一水平臂211和第二水平臂212均位于和夹持臂11平行的竖直面内，第二水平臂212和夹持组件1连接，连接杆213的两端分别与第一水平臂211以及第二水平臂212铰接；连接杆213用于相对于第一水平臂211绕水平轴线转动，以使第二水平臂212带动夹持组件1移动。
此时，驱动组件2中的第一水平臂211可以作为整个连杆机构21的机架，并与可移动平台的机身固定连接。当可移动平台拿取储物箱10时，可移动平台的机身和储物箱10的放置面之间相对静止，因而第一水平臂211也会和储物箱10的放置面之间保持静止，而连接杆213和第一水平臂211则会相对于第一水平臂211移动。第一水平臂211和第二水平臂212均位于和夹持臂11平行的竖直面内，因而第二水平臂212可以带动夹持臂11一同移动。
在连杆机构21中，每个连接杆213的两端均同第一水平臂211以及第二水平臂212铰接，因而第一水平臂211、第二水平臂212以及连接杆213之间共同组成了一个呈四边形的四连杆机构。由于四边形的形状较为不稳定，所以当第一水平臂211固定，连接杆213相对于自身和第一水平臂211之间的铰接点转动时，第二水平臂212会在连接杆213的带动下一同移动，并进而带动与第二水平臂212连接的夹持组件1一同移动。这样只需要通过控制连接杆213的转动，即可使第二水平臂212带动整个夹持组件1实现移动，从而拖动储物箱10。
进一步的，所有连接杆213均可以保持相互平行，且所有连接杆213均具有相同的长度。此时，连接杆213、第一水平臂211和第二水平臂212之间共同围成了四边形的四连杆机构。此时，该四边形四连杆机构的对边均平行且长度相等，因而第一水平臂211和第二水平臂212始终会保持相互平行的状态。因而第二水平臂212会始终保持平动，相应的，夹持组件1也会随之保持平移，在拖动储物箱10时运动较为规则，具有较高的工作可靠性。
为了驱动连杆机构21中的连接杆213转动，可选的，驱动组件2还包括第二驱动件22，第二驱动件22用于带动至少一个连接杆213相对于第一水平臂211转动。这样连接杆213转动时，即可带动第二水平臂212移动。其中，第二驱动件22可以为气缸或者电机等本领域技术人员常用的驱动形式，此处不加以限制。
可选的，连接杆213可以和第二驱动件22直接连接，也可以通过传动机构间接连接。作为其中一种可选的方式，驱动组件2还包括传动机构，传动机构包括与连接杆213的水平转轴同轴连接的传动轮23，传动轮23用于在第二驱动件22的驱动下带动连接杆213同步转动。
其中，传动轮23和连接杆213的转轴同轴设置，且传动轮23和连接杆213同步转动。这样当第二驱动件22驱动传动轮23转动时，连接杆213也会随之同步转动，并带动其余机构实现移动。
可选的，传动轮23可以为齿轮，同步轮或者链轮等多种传动轮形式，此处不加以限制。
可选的，由于每个夹持组件1中包括有两个相互平行的夹持臂11，因而至少一个连杆机构21可以包括相互平行的第一连杆机构21a和第二连杆机构21b，第一连杆机构21a和第二连杆机构21b分别和不同夹持臂连接。这样第一连杆机构21a和第二连杆机构21b可以同时从两侧同时带动夹持组件1移动，一方面夹持组件1受力更加均衡，另一方面单个连杆机构的受力较小，可靠性更高。
一般的，为了让第一连杆机构21a和第二连杆机构21b抱持同步移动，通常的，第一连杆机构21a和第二连杆机构21b之间通常利用传动轴24实现连接。这样第一连杆机构21a和第二连杆机构21b之间可以为联动状态。
一般的，因为抓取机构中包括有一个或者一个以上的夹持组件1，因而第一连杆机构21a和第二连杆机构21b既可以和相同的夹持组件1连接，也可以和不同的夹持组件1连接。当抓取机构包括一个夹持组件1时，第一连杆机构21a和第二连杆机构21b可以分别连接在该夹持组件1的不同夹持臂上，此时两个夹持臂被不同连杆机构所驱动，当第一连杆机构21a和第二连杆机构21b同步驱动时，也会带动两个夹持臂同步移动，这样夹持组件1的两个不同夹持臂均能够得到驱动，受力较为均衡。
而当抓取机构包括一个以上夹持组件，例如是两个夹持组件时，第一连杆机构21a和第二连杆机构21b可以分别连接在不同夹持组件上，这样不同夹持组件能够得到连杆机构21的驱动，并相应进行移动，受力较为均衡。一般的，第一连杆机构21a和第二连杆机构21b会相对于所有夹持组件排列方向对称设置，例如是分别与所有夹持组件的最外侧的两个夹持臂连接。
当抓取机构包括两个以上夹持组件时，未连接连杆机构21的夹持组件可以依靠连接件和其它夹持组件连接，并在和连杆机构21直接连接的夹持组件带动下实现同步移动。
当夹持组件1的夹持臂11对储物箱10进行抱持时，两个夹持臂之间应尽量有较大的跨度；但是和夹持臂11连接的多个连杆机构之间通常采用传动轴24或传动杆实现同步移动，此时传动轴24应保持较短的长度。为了兼顾夹持组件1和连杆机构21的结构，可选的，当多个连杆机构中包括第一连杆机构21a和第二连杆机构21b时，第一连杆机构21a和第一夹持臂11a连接，第二连杆机构21b和第二夹持臂11b连接，且第一连杆机构21a和第二连杆机构21b之间的间距小于第一夹持臂11a和第二夹持臂11b之间的间距。
其中，第一夹持臂11a和第二夹持臂11b可以是同一夹持组件的两个不同夹持臂，也可以是位于不同夹持组件上的夹持臂。第一夹持臂11a和第二夹持臂11b之间可以保持较大的间距和跨度，但第一连杆机构21a和第二连杆机构21b之间的间距较近，从而利用较短的传动轴24即可连接两个连杆机构，这样传动轴24可以具有较为紧凑的尺寸以及较好的刚度。
本实施例中，抓取机构具体包括驱动组件和至少一组夹持组件；夹持组件用于夹持储物箱，驱动组件用于带动夹持组件移动，以使夹持组件拖动储物箱并带动储物箱以固定障碍物为支点翻转。这样抓取机构可以利用储物箱自身的翻转而将储物箱内的物体取出，操作过程简单快捷。
本发明实施例二还提供一种可移动平台。本实施例中的可移动平台，具体包括机身和前述实施例一中的抓取机构。其中，抓取机构的具体结构、功能和工作原理均已在前述实施例一中进行了详细说明，此处不再赘述。其中，可移动平台可以是机器人、垃圾回收车、无人机等等可移动的物体。
具体的，可移动平台的抓取机构设置在机身上，抓取机构中的夹持组件能够在驱动组件的驱动下移动，从而夹持储物箱，并将储物箱向可移动平台拖动，此时储物箱即可在固定障碍物的阻挡下翻转，并将储物箱内的物体直接倒出。这样，可移动平台即可对原本在储物箱内的物体进行处理或者利用。例如，当物体为弹丸时，可移动平台的机身上还可以设置有供弹装置和射击装置等。供弹装置收集储物箱内的弹丸后，即可供应至射击装置实现弹丸的 射击。
本实施例中，可移动平台，具体包括机身和抓取机构；其中，抓取机构具体包括驱动组件和至少一组夹持组件；夹持组件用于夹持储物箱，驱动组件用于带动夹持组件移动，以使夹持组件拖动储物箱并带动储物箱以固定障碍物为支点翻转。这样可移动平台在拿取储物箱时，可以直接拖动储物箱，并利用储物箱自身的翻转而将储物箱内的物体取出，操作过程简单快捷。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (32)

  1. 一种抓取机构，其特征在于，包括驱动组件和至少一组夹持组件；所述夹持组件用于夹持储物箱，所述驱动组件用于带动所述夹持组件移动，以使所述夹持组件拖动所述储物箱并带动所述储物箱以固定障碍物为支点翻转，所述翻转用于倾倒所述储物箱内盛放的物体。
  2. 根据权利要求1所述的抓取机构，其特征在于，所述夹持组件为两组，且两组所述夹持组件并排设置。
  3. 根据权利要求1所述的抓取机构，其特征在于，每组所述夹持组件包括两个平行且间隔设置的夹持臂，每个所述夹持臂的与另一夹持臂相对的一面均设置有用于夹持所述储物箱的夹持件，且所述夹持件可相对所述夹持臂水平转动；
    其中，每个所述夹持臂的夹持件可向所述另一夹持臂移动，或者每个所述夹持臂均可向所述另一夹持臂移动。
  4. 根据权利要求3所述的抓取机构，其特征在于，所述夹持件和对应的所述夹持臂之间均设置有第一驱动件，所述第一驱动件用于驱动所述夹持件向所述另一夹持臂移动。
  5. 根据权利要求4所述的抓取机构，其特征在于，所述第一驱动件为气缸，所述气缸的缸体和所述夹持臂连接，所述气缸的活塞杆与所述夹持件连接，且所述活塞杆和所述缸体之间可相对转动。
  6. 根据权利要求3-5任一项所述的抓取机构，其特征在于，所述夹持组件还包括横梁，所述横梁连接在两个所述夹持臂之间，所述横梁用于和翻转后的所述储物箱抵接。
  7. 根据权利要求6所述的抓取机构，其特征在于，所述横梁和所述夹持臂之间活动连接，且所述横梁相对于所述夹持臂具有可变的高度位置。
  8. 根据权利要求6所述的抓取机构，其特征在于，所述夹持臂包括设置有所述夹持件的水平段和与所述横梁连接的倾斜段；所述倾斜段的底端和所述水平段相连，所述倾斜段和所述水平段之间的夹角为钝角。
  9. 根据权利要求6所述的抓取机构，其特征在于，所述横梁上还设置有摄像头。
  10. 根据权利要求3-5任一项所述的抓取机构，其特征在于，所述驱动组件包括至少一个连杆机构，每个所述连杆机构均包括第一水平臂、第二水平臂和至少两个连接杆；
    所述第一水平臂和所述第二水平臂均位于和所述夹持臂平行的竖直面内，所述第二水平臂和所述夹持组件连接，所述连接杆的两端分别与所述第一水平臂以及所述第二水平臂铰接；
    所述连接杆用于相对于所述第一水平臂绕水平轴线转动，以使所述第二水平臂带动所述夹持组件移动。
  11. 根据权利要求10所述的抓取机构，其特征在于，所有所述连接杆均相互平行且具有相同的长度。
  12. 根据权利要求10所述的抓取机构，其特征在于，所述至少一个连杆机构包括相互平行的第一连杆机构和第二连杆机构，所述第一连杆机构和所述第二连杆机构分别和不同夹持臂连接。
  13. 根据权利要求12所述的抓取机构，其特征在于，所述第一连杆机构和第一夹持臂连接，所述第二连杆机构和第二夹持臂连接，且所述第一连杆机构和所述第二连杆机构之间的间距小于所述第一夹持臂和所述第二夹持臂之间的间距。
  14. 根据权利要求10所述的抓取机构，其特征在于，所述驱动组件还包括第二驱动件，所述第二驱动件用于带动至少一个所述连接杆相对于所述第一水平臂转动。
  15. 根据权利要求14所述的抓取机构，其特征在于，所述驱动组件还包括传动机构，所述传动机构包括与所述连接杆的水平转轴同轴连接的传动轮，所述传动轮用于在所述第二驱动件的驱动下带动所述连接杆同步转动。
  16. 根据权利要求1-5任一项所述的抓取机构，其特征在于，所述固定障碍物设置在所述抓取机构上；或者，所述固定障碍物为用于限定所述储物箱位置的固定框。
  17. 一种可移动平台，其特征在于，包括机身和抓取机构；
    所述抓取机构包括驱动组件和至少一组夹持组件；所述夹持组件用于夹持储物箱，所述驱动组件用于带动所述夹持组件移动，以使所述夹持组件拖 动所述储物箱并带动所述储物箱以固定障碍物为支点翻转，所述翻转用于倾倒所述储物箱内盛放的物体。
  18. 根据权利要求17所述的可移动平台，其特征在于，所述夹持组件为两组，且两组所述夹持组件并排设置。
  19. 根据权利要求17所述的可移动平台，其特征在于，每组所述夹持组件包括两个平行且间隔设置的夹持臂，每个所述夹持臂的与另一夹持臂相对的一面均设置有用于夹持所述储物箱的夹持件，且所述夹持件可相对所述夹持臂水平转动；
    其中，每个所述夹持臂的夹持件可向所述另一夹持臂移动，或者每个所述夹持臂均可向所述另一夹持臂移动。
  20. 根据权利要求19所述的可移动平台，其特征在于，所述夹持件和对应的所述夹持臂之间均设置有第一驱动件，所述第一驱动件用于驱动所述夹持件向所述另一夹持臂移动。
  21. 根据权利要求20所述的可移动平台，其特征在于，所述第一驱动件为气缸，所述气缸的缸体和所述夹持臂连接，所述气缸的活塞杆与所述夹持件连接一且所述活塞杆和所述缸体之间可相对转动。
  22. 根据权利要求19-21任一项所述的可移动平台，其特征在于，所述夹持组件还包括横梁，所述横梁连接在两个所述夹持臂之间，所述横梁用于和翻转后的所述储物箱抵接。
  23. 根据权利要求22所述的可移动平台，其特征在于，所述横梁和所述夹持臂之间活动连接，且所述横梁相对于所述夹持臂具有可变的高度位置。
  24. 根据权利要求22所述的可移动平台，其特征在于，所述夹持臂包括设置有所述夹持件的水平段和与所述横梁连接的倾斜段；所述倾斜段的底端和所述水平段相连，所述倾斜段和所述水平段之间的夹角为钝角。
  25. 根据权利要求22所述的可移动平台，其特征在于，所述横梁上还设置有摄像头。
  26. 根据权利要求19-21任一项所述的可移动平台，其特征在于，所述驱动组件包括至少一个连杆机构，每个所述连杆机构均包括第一水平臂、第二水平臂和至少两个连接杆；
    所述第一水平臂和所述第二水平臂均位于和所述夹持臂平行的竖直面内，所述第二水平臂和所述夹持组件连接，所述连接杆的两端分别与所述第一水平臂以及所述第二水平臂铰接；
    所述连接杆用于相对于所述第一水平臂绕水平轴线转动，以使所述第二水平臂带动所述夹持组件移动。
  27. 根据权利要求26所述的可移动平台，其特征在于，所有所述连接杆均相互平行且具有相同的长度。
  28. 根据权利要求26所述的可移动平台，其特征在于，所述至少一个连杆机构包括相互平行的第一连杆机构和第二连杆机构，所述第一连杆机构和所述第二连杆机构分别和不同夹持臂连接。
  29. 根据权利要求28所述的可移动平台，其特征在于，所述第一连杆机构和第一夹持臂连接，所述第二连杆机构和第二夹持臂连接，且所述第一连杆机构和所述第二连杆机构之间的间距小于所述第一夹持臂和所述第二夹持臂之间的间距。
  30. 根据权利要求26所述的可移动平台，其特征在于，所述驱动组件还包括第二驱动件，所述第二驱动件用于带动至少一个所述连接杆相对于所述第一水平臂转动。
  31. 根据权利要求30所述的可移动平台，其特征在于，所述驱动组件还包括传动机构，所述传动机构包括与所述连接杆的水平转轴同轴连接的传动轮，所述传动轮用于在所述第二驱动件的驱动下带动所述连接杆同步转动。
  32. 根据权利要求17-21任一项所述的可移动平台，其特征在于，所述固定障碍物设置在所述抓取机构上；或者，所述固定障碍物为用于限定所述储物箱位置的固定框。
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